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 or
Buffered.
• When this instruction is canceled due to an
error.
• 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
• Pseudo velocity control is performed with position control.
•
The velocity control operation starts when Execute changes to TRUE.
Instruction Details
This section describes the instruction in detail.

Direction
• Specify the travel direction with Direction.
•
When Direction specifies 0: _mcPositiveDirection (Positive direction), the axis moves in the posi-
tive direction. When it specifies 2: _mcNegativeDirection (Negative direction), the axis moves in
the negative direction.
• When Direction specifies 3: _mcCurrentDirection (Current direction), the axis motion depends on
whether the axis is stopped or not. If the axis is stopped, it will move in the direction in which it was
traveling previously. If the power is turned ON or after restarting, the axis moves in the positive di-
rection.
If you execute this instruction during multi-execution of motion control instructions for the axis, the
axis will move in the direction that it is currently traveling.
3 Axis Command Instructions
3-90
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