Omron NY Series Motion Control Reference guide

Category
Software
Type
Reference guide

This manual is also suitable for

Industrial PC Platform
NY-series
Motion Control Instructions Reference Manual
NY532-1500
NY532-1400
NY532-1300
NY512-1500
NY512-1400
NY512-1300
W561-E1-05
NOTE
1. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or
otherwise, without the prior written permission of OMRON.
2. No patent liability is assumed with respect to the use of the information contained herein.
Moreover, because OMRON is constantly striving to improve its high-quality products, the infor-
mation contained in this manual is subject to change without notice.
3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as-
sumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
Trademarks
Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.
Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Mi-
crosoft Corporation in the United States and other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
The SD and SDHC logos are trademarks of SD-3C, LLC.
Intel and Intel Core are trademarks of Intel Corporation in the U.S. and / or other countries.
Other company names and product names in this document are the trademarks or registered trade-
marks of their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
This product incorporates certain third party software. The license and copyright information associ-
ated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
Introduction
Thank you for purchasing an NY-series IPC Machine Controller Industrial Panel PC / Industrial Box
PC.
In this manual, the Industrial Panel PCs and Industrial Box PCs may be collectively referred to as “NY-
series Industrial PCs”. In this manual, the range of devices that are directly controlled by the Controller
functions embedded in the Real-Time OS in the NY-series Industrial PC may be expressed as the
Controller.
This manual describes the motion control instructions. Please be sure that you sufficiently understand
the operations and handling procedures, and use the Motion Control Function Module (abbreviated as
“MC Function Module”) correctly.
Use this manual together with user's manuals for the NY-series Controller.
When you have finished reading this manual, keep it in a safe location where it will be readily available
for future use.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems (an electrical engineer or the equivalent).
Personnel in charge of introducing FA systems.
Personnel in charge of designing FA systems.
Personnel in charge of installing and maintaining FA systems.
Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
Applicable Products
This manual covers the following products.
NY-series IPC Machine Controller Industrial Panel PC
• NY532-15££
• NY532-14££
• NY532-13££
• NY532-5400
NY-series IPC Machine Controller Industrial Box PC
• NY512-15££
• NY512-14££
• NY512-13££
Part of the specifications and restrictions for the products may be given in other manuals.
Refer to Relevant Manuals on page 2 and Related Manuals on page 22.
Introduction
1
NY-series Motion Control Instructions Reference Manual (W561)
Relevant Manuals
The following table provides the relevant manuals for the NY-series Controller. Read all of the manuals
that are relevant to your system configuration and application before you use the NY-series Controller.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac
Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Manual
Basic information
Purpose of use
NY-series IPC Machine Controller
Industrial Panel PC
Hardware User's Manual
NY-series IPC Machine Controller
Industrial Box PC
Hardware User's Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Setup User's Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Software Users Manual
NY-series
Instructions Reference Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Motion Control User's Manual
NY-series
Motion Control Instructions Reference Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Built-in EtherCAT Port User’s Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Built-in EtherNet/IP Port User's Manual
NJ/NY-series NC Integrated Controller
User's Manual
NY-series
Troubleshooting Manual
Introduction to NY-series Pan-
el PCs ¡
Introduction to NY-series Box
PCs ¡
Setting devices and hardware
¡ ¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Making setup*1
¡
Making the initial set-
tings
Preparing to use Con-
trollers
Software settings
¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Using numerical con-
trol ¡
Writing the user program
¡ ¡
Using motion control ¡ ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Using numerical con-
trol ¡
Programming error
processing ¡
Relevant Manuals
2NY-series Motion Control Instructions Reference Manual (W561)
Manual
Basic information
Purpose of use
NY-series IPC Machine Controller
Industrial Panel PC
Hardware User's Manual
NY-series IPC Machine Controller
Industrial Box PC
Hardware User's Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Setup User's Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Software Users Manual
NY-series
Instructions Reference Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Motion Control User's Manual
NY-series
Motion Control Instructions Reference Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Built-in EtherCAT Port User’s Manual
NY-series IPC Machine Controller
Industrial Panel PC / Industrial Box PC
Built-in EtherNet/IP Port User's Manual
NJ/NY-series NC Integrated Controller
User's Manual
NY-series
Troubleshooting Manual
Testing operation and debug-
ging
¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Using numerical con-
trol ¡
Learning about error manage-
ment and corrections*2 ¡
Maintenance
¡ ¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
*1. Refer to the NY-series Industrial Panel PC / Industrial Box PC Setup User’s Manual (Cat. No. W568) for how to set up and how to use
the utilities on Windows.
*2. Refer to the NY-series Troubleshooting Manual (Cat. No. W564) for the error management concepts and an overview of the error
items.
Relevant Manuals
3
NY-series Motion Control Instructions Reference Manual (W561)
Manual Structure
Some of the instructions described in this manual are common to the NJ/NX-series.
Therefore, note the following conditions.
You cannot connect a CJ-series Unit with NY-series Controllers. In explanation of the instructions,
skip items and samples related to CJ-series Units.
In explanation of the instructions, replace the term “CPU Unit” with “NY-series Controller.”
NY-series Controllers have no SD Memory Card slots. Instead, they provide the Virtual SD Memory
Card function that uses the Windows shared folder. Therefore, replace the term “SD Memory Card”
with “Virtual SD Memory Card.”
Refer to the NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No.
W558) and NY-series Industrial Panel PC / Industrial Box PC Setup User’s Manual (Cat. No. W568)
for details on the Virtual SD Memory Card function.
Page Structure
The following page structure is used in this manual.
Manual name
Level-1 section heading
3 Axis Command Instructions
3-2 NJ-series Motion Control Instructions Reference Manual (W508)
MC_Power
The MC_Power instruction makes a Servo Drive ready to operate.
* Refer to A-1 Error Codes.
Output Variable Update Timing
Instruction Name FB/FUN Graphic expression ST expression
MC_Power Power Servo FB MC_Power_instance (
Axis :=parameter,
Enable :=parameter,
Status =>parameter,
Busy =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Enable Enable BOOL TRUE or FALSE FALSE The device is ready for operation when
Enable is TRUE, and not ready when it is
FALSE.
Output Variables
Name Meaning Data type Valid range Description
Status Servo ON BOOL TRUE or FALSE TRUE when the device is ready for operation.
Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged.
Error Error BOOL TRUE or FALSE TRUE while there is an error.
ErrorID Error Code WORD *Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
Name Timing for changing to TRUE Timing for changing to FALSE
Status When the specified axis becomes
ready for operation.
When operation ready status for the
specified axis is cleared.
When Error changes to TRUE.
Busy When Enable changes to TRUE. When Enable changes to FALSE.
When Error changes to TRUE.
Error When there is an error in the execution
conditions or input parameters for the
instruction.
When the error is cleared.
MC_Power_instance
Error
Axis Axis
Enable Status
Busy
MC_Power
ErrorID
Level-2 section heading
Level-3 section heading
Manual Structure
4NY-series Motion Control Instructions Reference Manual (W561)
Special information
Icons indicate
precautions, additional
information, or reference
information.
Level-2 section heading
Level-1 section number
Level-3 section heading
The level-1 section number
is given.
The level-2 section heading
is given.
The level-3 section heading
is given.
3-3
3 Axis Command Instructions
NJ-series Motion Control Instructions Reference Manual (W508)
r
ew
oP
_
C
M
3
noitcnuF
* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable names
are MC_Axis***.)
When Enable changes to TRUE, the axis specified by Axis is made ready to operate.
You can control the axis when it is ready to operate.
When Enable changes to FALSE, the ready status is cleared for the axis specified by Axis.
You cannot control the axis after the ready status is cleared because it will not acknowledge opera-
tion commands. Also, an error occurs if a motion command is executed for an axis for which the
ready status is cleared. You can execute the MC_Power (Power Servo) and MC_Reset (Reset Axis
Error) instructions even for axes that are not ready.
You can use this instruction to disable the operation of axes while they are in motion. In this case,
CommandAborted will change to TRUE. Output of the operation command will stop and the axis will
not longer be ready for operation.
If home is not defined for a Servomotor with an absolute encoder, compensation is performed using
the absolute encoder home offset to define home when the axis is ready to operate.
For details on the absolute encoder home offset, refer to the NJ-series CPU Unit Motion Control
User’s Manual (Cat. No. W507).
Precautions for Correct UsePrecautions for Correct Use
You can use this instruction for servo axes and virtual servo axes. If the instruction is used for
encoder axes or virtual encoder axes, an error will occur.
Executing this Instruction for the Master Axis of Synchronized Control
When master axis operation is disabled for a vertical axis, the position of the master axis may
change rapidly. This may cause the motion of t he slave axis to change rapidly. Take suitable
measures to prevent the slave axis from moving rapidly, such as applying a brake to the mas-
ter axis or leaving master axis operation enabled until after synchronized control is completed.
When Enable changes to TRUE, Busy (Executing) changes to TRUE to indicate that the instruction
was acknowledged.
After the axis becomes ready for operation, Status (Servo ON) changes to TRUE.
When Enable changes to FALSE, Busy (Executing) changes to FALSE. Status (Servo ON) changes
to FALSE when ready status is cleared. Status (Servo ON) outputs the axis ready status regardless
of whether Enable is TRUE or FALSE.
In-Out Variables
Name Meaning Data type Valid range Description
Axis Axis _sAXIS_REF --- Specify the axis.*
Function
Timing Charts
Enable
Status
Busy
The specified axis becomes
ready for operation.
Ready status is cleared for the
specified axis.
Note These pages are for illustrative purposes only. They may not literally appear in this manual.
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Version Information
Information on differences in specifications and functionality for Controller with different unit versions
and for different versions of the Sysmac Studio is given.
Manual Structure
5
NY-series Motion Control Instructions Reference Manual (W561)
Manual Structure
6NY-series Motion Control Instructions Reference Manual (W561)
Sections in this Manual
1
2
3
4
5
A
I
1
2
3
4
5
A
I
Introduction to Motion Control Instructions
Variables and Instructions
Axis Command Instructions
Axes Group Instructions
Common Command Instructions
Appendices
Index
Sections in this Manual
7
NY-series Motion Control Instructions Reference Manual (W561)
CONTENTS
Introduction .............................................................................................................. 1
Intended Audience...........................................................................................................................................1
Applicable Products .........................................................................................................................................1
Relevant Manuals..................................................................................................... 2
Manual Structure...................................................................................................... 4
Page Structure.................................................................................................................................................4
Special Information ..........................................................................................................................................5
Sections in this Manual ........................................................................................... 7
Terms and Conditions Agreement........................................................................ 13
Warranty, Limitations of Liability ....................................................................................................................13
Application Considerations ............................................................................................................................14
Disclaimers ....................................................................................................................................................14
Safety Precautions................................................................................................. 16
Precautions for Safe Use ...................................................................................... 17
Precautions for Correct Use ................................................................................. 18
Regulations and Standards .................................................................................. 19
Versions .................................................................................................................. 20
Checking Versions .........................................................................................................................................20
Related Manuals..................................................................................................... 22
Revision History..................................................................................................... 25
Section 1 Introduction to Motion Control Instructions
1-1 Motion Control Instructions..................................................................................................1-2
1-1-1 Function Blocks for PLCopen® Motion Control ...........................................................................1-2
1-1-2 Overview of Motion Control Instructions .....................................................................................1-2
1-1-3 Precautions for Master and Auxiliary Axes in Synchronized Control ..........................................1-6
1-2 Basic Information on Motion Control Instructions .............................................................1-8
1-2-1 Motion Control Instruction Names...............................................................................................1-8
1-2-2 Languages for Motion Control Instructions .................................................................................1-8
1-2-3 Motion Control Instruction Locations...........................................................................................1-9
1-2-4 Multi-execution of Motion Control Instructions ..........................................................................1-17
1-2-5 Online Editing of Motion Control Instructions ............................................................................1-18
1-2-6 Changes in the Operating Mode of the Controller.....................................................................1-18
Section 2 Variables and Instructions
2-1 Variables .................................................................................................................................2-2
2-1-1 MC Common Variables ...............................................................................................................2-3
2-1-2 Axis Variables..............................................................................................................................2-4
CONTENTS
8NY-series Motion Control Instructions Reference Manual (W561)
2-1-3 Axes Group Variables................................................................................................................2-10
2-1-4 Input Variables for Motion Control Instructions..........................................................................2-12
2-1-5 Output Variables for Motion Control Instructions.......................................................................2-27
2-1-6 In-Out Variables for Motion Control Instructions........................................................................2-30
2-2 Instructions ..........................................................................................................................2-33
2-2-1 Common Commands ................................................................................................................2-33
2-2-2 Axis Commands ........................................................................................................................2-33
2-2-3 Axes Group Commands............................................................................................................2-35
2-3 PDO Mapping .......................................................................................................................2-37
2-3-1 Required Objects ......................................................................................................................2-37
2-3-2 Objects Required for Specific Instructions ................................................................................2-38
Section 3 Axis Command Instructions
MC_Power.........................................................................................................................................3-3
Variables .......................................................................................................................................................3-3
Function ........................................................................................................................................................3-4
MC_MoveJog ....................................................................................................................................3-8
Variables .......................................................................................................................................................3-8
Function ........................................................................................................................................................3-9
MC_Home........................................................................................................................................3-18
Variables .....................................................................................................................................................3-18
Function ......................................................................................................................................................3-19
MC_HomeWithParameter ..............................................................................................................3-41
Variables .....................................................................................................................................................3-41
Function ......................................................................................................................................................3-45
MC_Move ........................................................................................................................................3-48
Variables .....................................................................................................................................................3-48
Function ......................................................................................................................................................3-50
MC_MoveAbsolute .........................................................................................................................3-53
Variables .....................................................................................................................................................3-53
Function ......................................................................................................................................................3-55
Sample Programming 1 ..............................................................................................................................3-61
Sample Programming 2 ..............................................................................................................................3-70
MC_MoveRelative...........................................................................................................................3-80
Variables .....................................................................................................................................................3-80
Function ......................................................................................................................................................3-82
MC_MoveVelocity...........................................................................................................................3-88
Variables .....................................................................................................................................................3-88
Function ......................................................................................................................................................3-90
Sample Programming .................................................................................................................................3-94
MC_MoveZeroPosition ................................................................................................................3-104
Variables ...................................................................................................................................................3-104
Function ....................................................................................................................................................3-106
MC_MoveFeed .............................................................................................................................. 3-111
Variables ................................................................................................................................................... 3-111
Function ....................................................................................................................................................3-115
Sample Programming ...............................................................................................................................3-127
MC_Stop........................................................................................................................................3-140
Variables ...................................................................................................................................................3-140
Function ....................................................................................................................................................3-141
MC_ImmediateStop......................................................................................................................3-149
Variables ...................................................................................................................................................3-149
Function ....................................................................................................................................................3-150
MC_SetPosition............................................................................................................................3-154
CONTENTS
9
NY-series Motion Control Instructions Reference Manual (W561)
Variables ...................................................................................................................................................3-154
Function ....................................................................................................................................................3-155
MC_SetOverride ...........................................................................................................................3-161
Variables ...................................................................................................................................................3-161
Function ....................................................................................................................................................3-162
MC_ResetFollowingError ............................................................................................................3-167
Variables ...................................................................................................................................................3-167
Function ....................................................................................................................................................3-168
MC_CamIn.....................................................................................................................................3-174
Variables ...................................................................................................................................................3-174
Function ....................................................................................................................................................3-178
Sample Programming 1 ............................................................................................................................3-201
Sample Programming 2 ............................................................................................................................3-212
MC_CamOut..................................................................................................................................3-232
Variables ...................................................................................................................................................3-232
Function ....................................................................................................................................................3-233
MC_CamMonitor...........................................................................................................................3-237
Variables ...................................................................................................................................................3-237
Function ....................................................................................................................................................3-240
Precautions for Correct Use .....................................................................................................................3-245
MC_GearIn ....................................................................................................................................3-246
Variables ...................................................................................................................................................3-246
Function ....................................................................................................................................................3-248
Sample Programming ...............................................................................................................................3-255
MC_GearInPos..............................................................................................................................3-267
Variables ...................................................................................................................................................3-267
Function ....................................................................................................................................................3-270
Sample Programming ...............................................................................................................................3-277
MC_GearOut .................................................................................................................................3-289
Variables ...................................................................................................................................................3-289
Function ....................................................................................................................................................3-290
MC_MoveLink ...............................................................................................................................3-294
Variables ...................................................................................................................................................3-294
Function ....................................................................................................................................................3-297
Sample Programming ...............................................................................................................................3-306
MC_CombineAxes........................................................................................................................3-317
Variables ...................................................................................................................................................3-317
Function ....................................................................................................................................................3-319
MC_Phasing..................................................................................................................................3-328
Variables ...................................................................................................................................................3-328
Function ....................................................................................................................................................3-330
MC_TorqueControl.......................................................................................................................3-335
Variables ...................................................................................................................................................3-335
Function ....................................................................................................................................................3-337
MC_SetTorqueLimit .....................................................................................................................3-348
Variables ...................................................................................................................................................3-348
Function ....................................................................................................................................................3-350
MC_ZoneSwitch ...........................................................................................................................3-355
Variables ...................................................................................................................................................3-355
Function ....................................................................................................................................................3-356
MC_TouchProbe...........................................................................................................................3-361
Variables ...................................................................................................................................................3-361
Function ....................................................................................................................................................3-364
Sample Programming ...............................................................................................................................3-374
MC_AbortTrigger..........................................................................................................................3-381
Variables ...................................................................................................................................................3-381
CONTENTS
10 NY-series Motion Control Instructions Reference Manual (W561)
Function ....................................................................................................................................................3-382
MC_AxesObserve.........................................................................................................................3-385
Variables ...................................................................................................................................................3-385
Function ....................................................................................................................................................3-387
MC_SyncMoveVelocity ................................................................................................................3-391
Variables ...................................................................................................................................................3-391
Function ....................................................................................................................................................3-393
MC_SyncMoveAbsolute ..............................................................................................................3-401
Variables ...................................................................................................................................................3-401
Function ....................................................................................................................................................3-403
MC_Reset......................................................................................................................................3-408
Variables ...................................................................................................................................................3-408
Function ....................................................................................................................................................3-409
MC_ChangeAxisUse ....................................................................................................................3-412
Variables ...................................................................................................................................................3-412
Function ....................................................................................................................................................3-413
MC_DigitalCamSwitch .................................................................................................................3-416
Variables ...................................................................................................................................................3-416
Function ....................................................................................................................................................3-418
Sample Programming ...............................................................................................................................3-427
MC_TimeStampToPos .................................................................................................................3-436
Variables ...................................................................................................................................................3-436
Function ....................................................................................................................................................3-437
Sample Programming ...............................................................................................................................3-440
MC_SyncOffsetPosition ..............................................................................................................3-448
Variables ...................................................................................................................................................3-448
Function ....................................................................................................................................................3-450
MC_OffsetPosition .......................................................................................................................3-458
Variables ...................................................................................................................................................3-458
Function ....................................................................................................................................................3-460
Section 4 Axes Group Instructions
MC_GroupEnable .............................................................................................................................4-2
Variables .......................................................................................................................................................4-2
Function ........................................................................................................................................................4-3
MC_GroupDisable ............................................................................................................................4-6
Variables .......................................................................................................................................................4-6
Function ........................................................................................................................................................4-7
MC_MoveLinear.............................................................................................................................. 4-11
Variables .....................................................................................................................................................4-11
Function ......................................................................................................................................................4-13
Sample Programming .................................................................................................................................4-24
MC_MoveLinearAbsolute ..............................................................................................................4-40
Variables .....................................................................................................................................................4-40
Function ......................................................................................................................................................4-42
MC_MoveLinearRelative................................................................................................................4-43
Variables .....................................................................................................................................................4-43
Function ......................................................................................................................................................4-45
MC_MoveCircular2D ......................................................................................................................4-46
Variables .....................................................................................................................................................4-46
Function ......................................................................................................................................................4-49
Sample Programming .................................................................................................................................4-61
MC_GroupStop...............................................................................................................................4-74
Variables .....................................................................................................................................................4-74
CONTENTS
11
NY-series Motion Control Instructions Reference Manual (W561)
Function ......................................................................................................................................................4-76
MC_GroupImmediateStop .............................................................................................................4-82
Variables .....................................................................................................................................................4-82
Function ......................................................................................................................................................4-83
MC_GroupSetOverride ..................................................................................................................4-86
Variables .....................................................................................................................................................4-86
Function ......................................................................................................................................................4-87
MC_GroupReadPosition................................................................................................................4-91
Variables .....................................................................................................................................................4-91
Function ......................................................................................................................................................4-92
MC_ChangeAxesInGroup..............................................................................................................4-95
Variables .....................................................................................................................................................4-95
Function ......................................................................................................................................................4-96
MC_GroupSyncMoveAbsolute......................................................................................................4-99
Variables .....................................................................................................................................................4-99
Function ....................................................................................................................................................4-101
MC_GroupReset ...........................................................................................................................4-106
Variables ...................................................................................................................................................4-106
Function ....................................................................................................................................................4-107
Section 5 Common Command Instructions
MC_SetCamTableProperty ..............................................................................................................5-2
Variables .......................................................................................................................................................5-2
Function ........................................................................................................................................................5-3
MC_SaveCamTable ..........................................................................................................................5-8
Variables .......................................................................................................................................................5-8
Function ........................................................................................................................................................5-9
MC_Write.........................................................................................................................................5-13
Variables .....................................................................................................................................................5-13
Function ......................................................................................................................................................5-16
MC_GenerateCamTable .................................................................................................................5-18
Variables .....................................................................................................................................................5-18
Function ......................................................................................................................................................5-20
Sample Programming .................................................................................................................................5-33
MC_WriteAxisParameter ...............................................................................................................5-47
Variables .....................................................................................................................................................5-47
Function ......................................................................................................................................................5-48
MC_ReadAxisParameter................................................................................................................5-61
Variables .....................................................................................................................................................5-61
Function ......................................................................................................................................................5-63
Appendices
A-1 Instructions for Which Multi-execution Is Supported ....................................................... A-2
A-1-1 Axis and Axes Group Status ...................................................................................................... A-2
A-1-2 State Transitions and Instructions for which Multi-execution Is Supported ................................ A-4
A-2 Connecting to NX Units...................................................................................................... A-10
A-3 Version Information ............................................................................................................ A-11
Index
CONTENTS
12 NY-series Motion Control Instructions Reference Manual (W561)
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and work-
manship for a period of twelve months from the date of sale by Omron (or such other period ex-
pressed in writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-
nies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
Terms and Conditions Agreement
13
NY-series Motion Control Instructions Reference Manual (W561)
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buy-
er’s request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself is not sufficient for a complete
determination of the suitability of the Product in combination with the end product, machine, system, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the par-
ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-
sponsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-
MENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual per-
formance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and oth-
er reasons. It is our practice to change part numbers when published ratings or features are changed,
or when significant construction changes are made. However, some specifications of the Product may
Terms and Conditions Agreement
14 NY-series Motion Control Instructions Reference Manual (W561)
be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-
lish key specifications for your application. Please consult with your Omron’s representative at any
time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Terms and Conditions Agreement
15
NY-series Motion Control Instructions Reference Manual (W561)
Safety Precautions
Refer to the following manuals for safety precautions.
NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)
NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)
Safety Precautions
16 NY-series Motion Control Instructions Reference Manual (W561)
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)
NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)
Precautions for Safe Use
17
NY-series Motion Control Instructions Reference Manual (W561)
Precautions for Correct Use
Refer to the following manuals for precautions for correct use.
NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)
NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)
Precautions for Correct Use
18 NY-series Motion Control Instructions Reference Manual (W561)
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Omron NY Series Motion Control Reference guide

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Software
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Reference guide
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