Omron Sysmac NY-series User Manual

When Distance (T
ravel Distance) is 0 and the instruction is executed, the axis will not move, but Done
will change to TRUE.
Precautions for Correct Use
Observe the following precautions if you re-execute relative positioning just before the comple-
tion of positioning.
If positioning is completed before the MC Function Module re-executes the instruction, normal
instruction execution is performed.
•
For normal instruction execution, positioning is performed to the relative value that is based
on the position of the axis when the instruction is executed.
• For re-execution of an instruction, positioning is performed to the relative value that is based
on the position of the axis when original instruction was executed.
Velocity
Time
Instruction re-executed.
Velocity
Time
Instruction re-executed.
Relative position specified
for re-execution of instruction
Normal Instruction Execution
Re-execution of Instruction
First position
of original
instruction
First position
of original
instruction
Relative position
specified for
original instruction
Relative position
specified for
instruction

In-position Check
An in-position check is performed for this instruction according to the settings in In-position Range
and In-position Check T
ime axis parameters.
Timing Charts
• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. Active (Control-
ling) changes to TRUE in the next period.
• Done changes to TRUE when Distance (T
arget Distance) is reached and positioning is completed.
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy (Execut-
ing) and Active (Controlling) change to FALSE.
3 Axis Command Instructions
3-84
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