• If saving the cam table is in progress for the Save Cam Table instruction, the save operation contin-
ues.
•
If creation of the cam table is in progress for the Generate Cam Table instruction, the creation oper-
ation continues.
• Motion control instructions located in a priority 16 periodic task perform the above process after the
END instruction in the task is executed.
Changes from PROGRAM Mode to RUN Mode
• The output variables of the motion control instructions are cleared.
•
The axis decelerates to a stop when the mode changes from RUN mode to PROGRAM mode. If the
operating mode is changed back to RUN mode while the axis is decelerating, the output variables
from the motion control instruction are cleared. Therefore, CommandAborted of the motion control
instruction that was under execution remains FALSE.
Additional Information
• To enable accessing output variables for motion control instructions even after the operating
mode changes, assign variables that have output parameters with a Retain attribute.
By accessing the assigned output parameter
, you can access the output variable immediately
before the operating mode changes.
• The Servo ON/OFF status will continue even if the operating mode is changed.
1 Introduction to Motion Control Instructions
1-19
NY-series Motion Control Instructions Reference Manual (W561)
1-2 Basic Information on Motion
Control Instructions
1
1-2-6 Changes in the Operating Mode of the Controller
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