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Omron IPC Machine Controller Industrial Panel PC / Industrial Box PC. Software User’s Manual (Industrial PC Platform NY-series) - page 20

Appendices

MC_ChangeAxisUse Instruction

The MC_ChangeAxisUse (Change Axis Use) instruction is used to enable and disable axes. The

MC_ChangeAxisUse instruction changes the setting of the Axis Use axis parameter of the specified

axis between Used Axis and Unused Axis. If you cycle the power supply to the Controller after this

instruction is executed, the settings will return to the settings from before instruction execution. Refer to

the NY-series Motion Control Instructions Reference Manual (Cat. No. W561) for the detailed specifica-

tions of the MC_ChangeAxisUse instruction.

A-8-3

System-defined Variables That Indicate EtherCAT Slave or Axis

Status

You can check the values of system-defined variables to get the current status of EtherCAT slaves and

axes. The system-defined variables for these are given below.

Accessed status

System-defined variable name

EtherCAT slaves

_EC_DisableSlavTbl[] (Disabled Slave Table)

Axes

_MC_AX[].Cfg.AxEnable (Axis Use)

_EC_DisableSlavTbl[] (Disabled Slave Table)

The _EC_DisableSlavTbl[] (Disabled Slave Table) system-defined variable tells whether each Ether-

CAT slave is currently disabled. The node address is specified for the array subscript. The meanings of

the values in _EC_DisableSlavTbl[] (Disabled Slave Table) are given below.

Value

Meaning

TRUE

The EtherCAT slave with the specified node address is disabled.

FALSE

The EtherCAT slave with the specified node address is enabled.

_MC_AX[].Cfg.AxEnable (Axis Use)

The _MC_AX[].Cfg.AxEnable (Axis Use) system-defined variable tells whether each axis is defined and

whether each axis is used. The axis number is specified for the array subscript. The meanings of the

values in _MC_AX[].Cfg.AxEnable (Axis Use) are given below.

Value

Meaning

0: _mcNoneAxis

The specified axis is an undefined axis.

1: _mcUnusedAxis

The specified axis is an unused axis.

2: _mcUsedAxis

The specified axis is a used axis.

A-8-4

Enabling/Disabling Execution of Program

There are certain programs associated with the EtherCAT slaves and axes, which are enabled or dis-

abled. These associated programs must be enabled or disabled as the EtherCAT slaves and axes are

enabled or disabled. To enable or disable the program, use the following instructions in the user pro-

gram.

Function

Instruction

Enable program

PrgStart instruction

Disable program

PrgStop instruction

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Appendices

Refer to the NY-series Instructions Reference Manual (Cat. No. W560) for the detailed specifications of

the PrgStart instruction and PrgStop instruction.

Precautions for Correct Use

When you want to disable the program, first disable the EtherCAT slave and axis which the pro-

gram is associated with, and then disable the program.

A-8-5

Checking Enabled/Disabled Program

You can use the PrgStatus instruction to check the program is enabled or disabled that is associated

with the EtherCAT slave and axis that are enabled and disabled.

Refer to the NY-series Instructions Reference Manual (Cat. No. W560) for the detailed specifications of

the PrgStatus instruction.

A

A-8-6

Settings with the Sysmac Studio

You can also enable/disable the EtherCAT slaves and axes and set to enable/disable the program at

the start of operation using the Sysmac Studio. Some applications require that EtherCAT slave status,

axis status and program status at the start of operation are set in advance with the Sysmac Studio.

Enabling/Disabling EtherCAT Slaves with Sysmac Studio

Use the following procedure to enable an EtherCAT slave on the Sysmac Studio.

1 Right-click EtherCAT under Configurations and Setup and select Edit from the menu.

The EtherCAT Tab Page is displayed.

2 In the Toolbox, right-click the EtherCAT slave you want to connect and select Insert from the menu.

The selected EtherCAT slave is displayed under the EtherCAT master on the EtherCAT Tab

Page. Also, the Parameter Settings Area for the EtherCAT slave is displayed on the right side of

the EtherCAT Tab Page.

3 Set the value of Enable/Disable Settings to Enabled on the Parameter Settings Area for the

EtherCAT slave.

Enabling/Disabling Axis with Sysmac Studio

Use the following procedure to enable an axis on the Sysmac Studio.

1 Right-click Axis Settings under Configurations and Setup - Motion Control Setup and select

Add - Axis Settings from the menu.

The axis MC_Axis000(0) is added under Axis Settings.

2 Right-click MC_Axis000(0) and select Edit from the menu.

The Axis Basic Settings Display appears.

3 Set Axis Use to Used Axis.

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Appendices

Running/Stopping Program at the Start of Operation with Sysmac

Studio

Use the following procedure to execute a program at the start of operation on the Sysmac Studio.

1 Right-click Task Settings under Configurations and Setup and select Edit from the menu.

The Task Settings Tab Page is displayed.

2 Click the Program Assignment Settings Button.

The Program Assignment Settings Display appears.

3 Set Initial Status of the program to Run on the Program Assignment Settings Display.

A-8-7

Examples of Applications of Enabling/Disabling EtherCAT

Slaves and Axes

This section provides concrete examples of applications in which EtherCAT slaves and axes are

enabled and disabled.

Application 1: Centralized Management of Machines with Different

EtherCAT Slave Configuration and Axis Composition

Assume that the EtherCAT slaves and axis compositions for the NY-series Controllers are different for

machines 1 and 2 as shown below. These two machines are centrally managed using one Sysmac Studio proj-

ect.

EtherCAT Slave Configuration and

EtherCAT Slave Configuration and

Axis Composition of Machine 1

Axis Composition of Machine 2

Controller

Controller

EtherCAT

EtherCAT

A

B

C

A

B

C

D

EtherCAT slaves, axes

EtherCAT slaves, axes

Sensor

In the Sysmac Studio project, an EtherCAT Slave Configuration is created for all four EtherCAT slaves

and axes in A, B, C, and D in the figure. Then, on the Sysmac Studio, you set the EtherCAT slave

enable/disable settings, Axis Use parameter settings, and the associated program run/stop status at

the start of operation according to machine 1, as shown in the following table.

EtherCAT

Installed in

Enable/disable

Axis Use

Associated programs

slave

EtherCAT network

setting

parameter setting

A, B, and C

Installed.

Enabled.

Used Axis

Run at the start of opera-

tion.

D

Not installed.

Disabled.

Unused Axis

Stop at the start of opera-

tion.

A-112

Appendices

To make changes for machine 2, you use instructions to change the EtherCAT slave enable/disable settings, Axis

Use parameter settings, and the associated program enable/disable settings as shown in the following table.

EtherCAT

Installed in

Enable/disable

Axis Use

Associated programs

slave

EtherCAT network

setting

parameter setting

A, B, and C

Installed.

Enabled.

Used Axis

Executed.

D

Installed.

Enabled.

Used Axis

Executed.

The user program algorithm is shown in the following figure. A signal is input to the Controller from an

external device to specify whether machine 1 or machine 2 is operated.

External signal input.

Yes

Machine 1?

No

A

The EC_ChangeEnableSetting instruction is executed to enable

the slave for node D and the MC_ChangeAxisUse instruction is

executed to change the axis for node D to a used axis.

The program associated with node D is executed by the

PrgStart instruction.

Operation started.

Application 2: Changing the EtherCAT Slave Configuration and Axis

Composition during Operation

In the following figure, production line 1 is left running while the EtherCAT slaves and axis composition

on production line 2 are changed.

Controller

Controller

Production line 1 is left running

EtherCAT

while the EtherCAT slaves and

EtherCAT

axis composition on production

line 2 are changed.

A

B

Production line 1

A

B

Production line 1

EtherCAT slaves, axes

EtherCAT slaves, axes

Production line 2

C

D

E

Production line 2

F

G

EtherCAT slaves, axes

EtherCAT slaves, axes

A-113

Appendices

In the Sysmac Studio project, an EtherCAT slave configuration is created for all seven EtherCAT slaves

and axes in A to G in the figure.

On the Sysmac Studio, set the EtherCAT slave enable/disable settings, Axis Use parameter settings,

and the associated program run/stop status at the start of operation for nodes A to G as shown in the

following table. These are the settings for the configuration before change.

EtherCAT

Installed in

Enable/disable

Axis Use

Associated programs

slave

EtherCAT network

setting

parameter setting

A and B

Installed.

Enabled.

Used Axis

Run at the start of opera-

tion.

C, E, and D

Installed.

Enabled.

Used Axis

Run at the start of opera-

tion.

F and G

Not installed.

Disabled.

Unused Axis

Stop at the start of opera-

tion.

The following procedure is used to change the EtherCAT slaves and axes that are used from C, D, E to

F and G.

1 Stop production line 4.

2 Use the MC_ChangeAxisUse instruction to set the Axis Use parameters for C, D, and E to

Unused Axis.

3 Use the EC_ChangeEnableSetting instruction to disable the settings for EtherCAT slaves C, D,

and E.

4 Use the PrgStop instruction to disable the programs associated with C, D and E.

5 Remove EtherCAT slaves C, D, and E from production line 4.

6 Install EtherCAT slaves F and G on production line 4.

7 Use the EC_ChangeEnableSetting instruction to enable the settings for EtherCAT slaves F and

G.

8 Use the MC_ChangeAxisUse instruction to set the Axis Use parameters for F and G to Used

Axis.

9 Use the PrgStart instruction to enable the programs associated with F and G.

10 Start production line 4 again.

As the result of the above steps, the EtherCAT slave enable/disable settings, Axis Use parameter set-

tings, and the associated programs enable/disable settings are changed as shown below.

EtherCAT

Installed in

Enable/disable

Axis Use

Associated programs

slave

EtherCAT network

setting

parameter setting

A and B

Installed.

Enabled.

Used Axis

Enabled.

C, E, and D

Not installed.

Disabled.

Unused Axis

Disabled.

F and G

Installed.

Enabled.

Used Axis

Enabled.

Precautions for Correct Use

When you want to disable the program, first disable the EtherCAT slave and axis which the pro-

gram is associated with, and then disable the program.

A-114

Appendices

A-9

Size Restrictions for the User Program

There are size restrictions for the user program due to the limitations of the memory capacity in the

Controller and other factors. If you exceed these restrictions, errors will occur during operation. This

section describes each of the size restrictions of a user program that is created in a Controller.

You can check the approximate sizes of the user program and variables with the memory display func-

tions of the Sysmac Studio.

Be careful not to exceed these restrictions when you create the user program. The restrictions that are

given in this section, however, are only reference values for use as guidelines. We recommend that you

ensure ample leeway for the restrictions to allow for the possibility of future user program expansion as

well as for other reasons.

Precautions for Correct Use

A

Errors can occur during online editing even if the user program size restrictions are not

exceeded. This is because even if you change the user program with online editing, other data

that is allocated in the memory of the Controller may remain. If errors occur, change the Control-

ler to PROGRAM mode and transfer the user program to the Controller again to reset the errors.

A-9-1

User Program Object Restrictions

This section describes the restrictions to user program objects. There are restrictions for the following

objects.

• POU

• Variables

• Data type definitions

• Constants (literals)

POU Restrictions

There are restrictions both on POU definitions and POU instances.

z POU Definition Restrictions

POU definitions are subject to the following restrictions.

Restriction

NY5†

2-††††

Maximum number of programs

500

Maximum value of the following: Number of function block definitions + Number of

3,000

function definitions + Number of ladder diagram sections

Maximum total number of input, output, and in-out variables in function block and

64

function definitions

z POU Instance Restrictions

POU instances are subject to the following restrictions.

Restriction

NY52-

Maximum number of POU instances

24,000

Refer to Number of POU Instances on page A-117 for information on counting POU instances.

A-115

Appendices

Restrictions to Variables

There are restrictions to both variable usage and variable definitions.

z

Restrictions to Variable Usage

The usage of variables is subject to the following restrictions.

Restriction

NY52-

64

Maximum total size in Mbytes of variables without a Retain attribute^*1

4

Maximum total size^*1 in Mbytes of variables with a Retain attribute

180,000

Maximum number of variables^*2 without a Retain attribute

Maximum number of variables^*3 with a Retain attribute

40,000

Maximum number of network variables

40,000

*1

The data size of each variable depends on its data type. Refer to 6-3-5 Data Types for the sizes of the data

types.

*2

Refer to Number of Variables without a Retain Attribute on page A-117 for information on counting vari-

ables.

*3

Refer to Number of Variables with a Retain Attribute on page A-118 for information on counting variables.

z

Restrictions to Variable Definitions

Variable definitions are subject to the following restrictions.

Restriction

NY5† 2-††††

Maximum number of elements per array

65,535

Maximum number of dimensions in an array

3

Maximum size in MB of an array

8

Maximum value of a subscript (element number) for an array

65,535

1,986

Maximum size in bytes^*1 of a string variable

*1

The NULL character at the end must be counted. Therefore, there are 1,985 single-byte characters in a

string that has a size of 1,986 bytes.

Restrictions to Data Type Definitions

Data type definitions are subject to the following restrictions.

Restriction

NY5† 2-††††

Maximum number*1 of data type definitions

4,000

Maximum number of levels in a structure definition

8

Maximum number of members in a structure definition

2,048

Maximum size in MB of a structure variable

8

Maximum number of members in a union definition

4

Maximum number of enumerators in an enumeration definition

2,048

*1

Refer to Number of Data Type Definitions on page A-118 for information on counting data types.

Restrictions to Constants (Literals)

The constants (literals) are subject to the following restrictions.

Restriction

NY5† 2-††††

Maximum size in bytes of a constant (literal)

1,985

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Appendices

A-10 Version Information for NY-series

Controllers

This section describes the relationship between the unit versions of NY-series Controllers and the Sys-

mac Studio versions, and the functions that are supported for each unit version.

A-10-1

Relationship between Unit Versions of Controllers and Sysmac

Studio Versions

This section also describes how the unit versions of NY-series Controllers correspond to Sysmac Studio

versions. Normally use the corresponding versions.

A

Unit Versions and Corresponding Sysmac Studio Versions

This following table gives the relationship between the unit versions of NY-series Controllers and the

corresponding Sysmac Studio versions.

Unit version of NY-series Controller

Corresponding version of Sysmac Studio

Ver. 1.21^*1

Ver. 1.29

Ver. 1.19

Ver. 1.24

Ver. 1.22

Ver. 1.18^*2

Ver. 1.16^*3

Ver. 1.20

Ver. 1.14^*4

Ver. 1.18

Ver. 1.12

Ver. 1.17

*1

There is no NY-series Controller with unit version 1.20.

*2

There is no NY-series Controller with unit version 1.17.

*3

There is no NY-series Controller with unit version 1.15.

*4

There is no NY-series Controller with unit version 1.13.

Specifications When Not Using the Sysmac Studio Version That

Corresponds to the Unit Version of the Controller

The specifications when you do not use the Sysmac Studio version that corresponds to the unit version

of the NY-series Controllers are given in this section.

z Using Sysmac Studio Version 1.16 or Lower

You cannot use the NY-series Controller with Sysmac Studio version 1.16 or lower.

z Using a Lower Version of Sysmac Studio

If you use a lower version of the Sysmac Studio, you can use only the functions of the unit version of

the Controller that corresponds to the Sysmac Studio version.

Example: Unit version of Controller: 1.14

Sysmac Studio version: 1.17

Unit version 1.12 of the Conroller corresponds to Sysmac Studio version 1.17. There-

fore, you can use only the functions that are supported by unit version 1.12 of the Con-

troller. You cannot use functionality that was added for unit version 1.14 or later of the

Controller.

A-119

Appendices

z

Using a Controller with an Earlier Unit Version

If you use an NY-series Controller with an earlier version, select the unit version of the connected

Controller or an earlier unit version in the Select Device Area of the Project Properties Dialog Box on

the Sysmac Studio. You can use only the functions that are supported by the unit version of the con-

nected Controller.

Example: Unit version of Controller: 1.12

Sysmac Studio version: 1.18

Unit version 1.14 of the Controller corresponds to Sysmac Studio version 1.18. How-

ever, the connected Controller is unit version 1.12, so select version 1.12 as the ver-

sion in the Select Device Area of the Project Properties Dialog Box.

If you select version 1.12 as the version in the Select Device Area of the Project Prop-

erties Dialog Box, you can use only the functions that are supported by unit version

1.12 of the Controller. You cannot use functionality that was added for unit version 1.14

or later of the Controller.

Additional Information

Unit Version Settings for Project Devices

• You can select the unit version in the Select Device Area of the relevant dialog boxes on the

Sysmac Studio.

• You can select any unit version that is the same as or earlier than the unit version of the Con-

troller. For example, if the unit version of the Controller is 1.14, select either 1.12 or 1.14.

• The Sysmac Studio will treat the Controller as a Controller with the unit version that is selected

for the project device. For example, if you set unit version 1.12 for project device, you can use

only the functionality for unit version 1.12 on the Sysmac Studio.

• You can transfer a project to the Sysmac Studio if the unit version that is set for the project

device is the same as or earlier than the unit version of the destination Controller.

• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-03 or later) for

details on the Select Device Area of the relevant dialog boxes.

A-10-2

Functions That Were Added or Changed for Each Unit Version

This section describes the functions that were added or changed for each unit version of NY-series

Controller.

z Additions and Changes to Functional Specifications

The following table gives the unit version of the Controller and the Sysmac Studio version for each

addition or change to the functional specifications.

Sysmac

Addition/

Unit ver-

Function

Studio

Reference

change

sion

version

Motion control

Single axes

Auxiliary func-

Cam monitor

Addition

1.21

1.29

NY-series Industrial

tion for single-

Panel PC / Indus-

axis control

trial Box PC Motion

Control User's Man-

ual (Cat. No. W559)

Note Refer to the manuals for the function modules for additions and changes to function module functions for

each unit version of the Controllers.

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