Omron Sysmac NY-series - Page 543

Active
Execute
OffsetPosition
+10
+10
+10
+10
+20
1
0 20
Command position
Primary period
Solid line: After position offset is added
Dotted line: Before position offset is added
Time
MC_SyncOffsetPosition Instruction
Task period
Re-execution of Motion Control Instructions
This instruction cannot be re-executed.
A Motion Control Instruction Re-execution Disabled error (error code: 543B hex) occurs if re-execution
is attempted.
Multi-execution of Motion Control Instructions
For details on multi-execution of motion control instructions, refer to the NY
-series Industrial Panel
PC / Industrial Box PC Motion Control User’s Manual (Cat. No. W559).

Multi-execution of Instructions for the Target Synchronized Control Instructions
If you perform multi-execution of instructions for the synchronized control instruction for which this in-
struction is being executed, CommandAborted (Instruction Aborted) of this instruction changes to
TRUE. If blending is used for multi-execution of two MC_CamIn (Start Cam Operation) instructions,
CommandAborted (Instruction Aborted) of this instruction remains FALSE and processing is contin-
ued. In this case, the value of OffsetPosition (Position Offset) is added to the initial velocity.
The following timing chart shows the operation when this instruction is executed for an MC_GearIn
(Start Gear Operation) instruction and multi-execution of instructions is performed for another instance
of MC_GearIn (Start Gear Operation) before execution of the first instance is completed.
3 Axis Command Instructions
3-455
NY-series Motion Control Instructions Reference Manual (W561)
MC_SyncOffsetPosition
3
Function