Applicable Axes and Execution Condition
• You can use this instruction for servo and virtual servo axes in the following cases.
During single-axis position control
During the MC_MoveV
elocity (Velocity Control) instruction
During synchronized control
• An error occurs if the instruction is executed for an encoder or virtual encoder axis.
Axis Variable Status
Status.Stopping (Deceleration Stopping) in the Axis Variable status changes to TRUE.
Executing this Instruction during Control Mode Changes
If you execute an instruction that changes the control mode to Position Control Mode during execution
of the MC_TorqueControl (Torque Control) or MC_SyncMoveVelocity (Cyclic Synchronous Velocity
Control) instruction and then execute the MC_ResetFollowingError instruction before the change to
Position Control Mode is actually completed, the timing for resetting the following error to 0 will be as
described below.
• The following error between the command current position and the actual current position is reset to
0 immediately after the change to Position Control Mode is completed.
Refer to MC_TorqueControl on page 3-335 and MC_SyncMoveVelocity on page 3-391 for details on
changing the control mode.
Timing Charts
Timing charts for when this instruction is executed during holding status for the MC_MoveAbsolute
(Absolute Positioning) instruction are given below
.
3 Axis Command Instructions
3-170
NY-series Motion Control Instructions Reference Manual (W561)
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