Omron Sysmac NY-series User Manual

Name Timing for changing to TRUE Timing for changing to FALSE
CommandAborted
• When this instruction is aborted because an-
other motion control instruction was executed
with the Buf
fer Mode set to Aborting.
• When this instruction is canceled due to an er-
ror.
• When this instruction is executed while there
is an error.
• When you start this instruction during
MC_Stop instruction execution.
• When Execute is TRUE and changes to
FALSE.
• After one period when Execute is FALSE.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
When the error is cleared.
In-Out Variables
Name Meaning Data type
Valid
range
Description
Axis Axis _sAXIS_REF ---
Specifies the axis.
*1
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-
is*) or a system-defined axis variable name (_MC_AX[*]).
If you use Sysmac Studio version 1.29 or higher, you can specify the system-defined axis variable name for AT specifi-
cation 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
• The travel distance from the command current position is specified to perform positioning.
• Relative positioning starts when Execute changes to TRUE.
• You can specify the Velocity (Target Velocity), Acceleration (Acceleration Rate), Deceleration (De-
celeration Rate), and Jerk as input variables.
The following chart shows an operation example of relative positioning.
0
Velocity
Time
Travel
distance
Command current position
Deceleration
Acceleration
Target
velocity
When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0 and the instruction
is executed, it will reach the target velocity without accelerating or decelerating.
The following chart shows an operation example of when the Deceleration (Deceleration Rate) is 0.
3 Axis Command Instructions
3-82
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