Omron NY532-1500 Reference Manual page 163

For details on Jerk, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507)
or NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Instruction Details
When the Count Mode is Rotary Mode, you can specify a Distance (Travel Distance) that exceeds the
relative distance range from the Modulo Minimum Position Setting Value axis parameter to the Modulo
Maximum Position Setting Value axis parameter so that you can perform multiple ring rotation position-
ing. The following chart shows an operation example when the command current position is −20 and
Distance (Travel Distance) is 300.
Modulo maximum
position setting
value: 100
0
Modulo minimum
position setting
value: −70
When Distance (Travel Distance) is 0 and the instruction is executed, the axis will not move, but Done
will change to TRUE.
Precautions for Correct Use 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.
Normal Instruction Execution
elocity
First position
of original
instruction
Relative position
specified for
original 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 Time axis parameters.
NY-series Motion Control Instructions Reference Manual (W561)
Command
current
position: −20
Performs relative positioning with travel distance of 300.
Instruction re-executed.
Velocity
Time
Relative position
specified for
instruction
3 Axis Command Instructions
300
Re-execution of Instruction
Instruction re-executed.
First position
of original
instruction
Relative position specified
for re-execution of instruction
Position after
positioning: −60
Time
3-79
3