Omron Sysmac NY-series User Manual

When 4: _mcNoDirection
(No direction specified) is specified for Direction, you can specify a Position
(Target Position) outside the range specified by the modulo maximum position and modulo minimum
position setting values.
When Position (Target Position) is outside the range specified by the modulo maximum position and
modulo minimum position setting values, positioning is performed using the travel distance exceeding
the modulo maximum position setting value as a relative distance. This allows positioning of multiple
ring rotations.
Positioning is the same when Position (Target Position) is below the modulo minimum position setting
value as well.
The following chart shows an operation example for when the command current position is -20 and
Position (Target Position) is 290.
190
Performs relative positioning with the target distance as
(290 (Target position)
- 100 (Upper limit)) = 190.
Position after
positioning: -50
Command
current position:
-20
Modulo minimum
position setting
value: -70
Modulo maximum
position setting
value: 100
0
When 1: _mcShortestW
ay (Shortest way) is specified for Direction, positioning starts in the direction
with the shortest distance between the command current position and the target position.
The following chart shows an operation example when positioning starts with a command position of
50 and moves toward -20.
0
Target position:
-20
Target position:
-20
Moves in the direction with
the shortest travel distance.
Command current
position: 50
Modulo minimum
position setting
value: -70
Modulo maximum
position setting
value: 100
Movement is in the same direction as 3: _mcCurrentDirection (Current direction) if the travel dis-
tance is the same in the positive and the negative direction.
3 Axis Command Instructions
3-58
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English