Omron NY532-1500 Reference Manual page 164

3 Axis Command Instructions
Timing Charts
• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. Active (Con-
trolling) changes to TRUE in the next period.
• Done changes to TRUE when Distance (Target Distance) is reached and positioning is completed.
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy (Execut-
ing) and Active (Controlling) change to FALSE.
Execute
Done
Busy
Active
CommandAborted
Error
ErrorID
Velocity
Re-execution of Motion Control Instructions
You can change the operation of the instruction if you change an input variable during positioning and
change Execute to TRUE again.
Input variables Distance (Travel Distance), Velocity (Target Velocity), Acceleration (Acceleration Rate),
and Deceleration (Deceleration Rate) can be changed by re-executing the motion control instruction.
The starting point for Distance (Travel Distance) when the instruction is re-executed is not the command
current position for the first execution, but rather it is the command current position when the instruction
was first executed. The following chart shows an operation example when a motion control instruction is
re-executed twice with different values for Distance (Travel Distance) and Velocity (Target Velocity).
Velocity
Instruction re-executed.
Command current position
0
First travel
distance
Second travel
distance
Third travel
distance
3-80
16#0000
Instruction re-executed.
Time
NY-series Motion Control Instructions Reference Manual (W561)
Multi-execution of
instructions
Time