Omron NY532-1500 Reference Manual page 234

3 Axis Command Instructions
Execution While Axis Is in Motion
If you execute this instruction while positioning to an absolute position, the target value will change
according to the change in position.
As an example, the axis operation and timing chart are shown below for a situation where the actual
position is changed from 200 mm to 800 mm while the axis is moved to 400 mm for an MC_Move-
Absolute (Absolute Positioning) instruction. The axis will move in the negative direction because the
actual value is 800 mm and the target value is 400 mm. As shown in the following figure, even if the
actual position is changed, the MC_MoveAbsolute (Absolute Positioning) instruction will move the
axis from the new actual position to the specified target position. When the specified target position
is reached, Done changes to TRUE.
Previous Instruction (Example MC_MoveAbsolute)
Execute
CommandAborted
ErrorID
Current Instruction (MC_SetPosition)
Execute
Velocity
Additional Information
• If you execute this instruction while the MC_MoveRelative (Relative Positioning) or
MC_MoveVelocity (Velocity Control) instruction is in execution, the actual position will change.
However, if you execute this instruction while the MC_MoveRelative (Relative Positioning) or
MC_MoveVelocity (Velocity Control) instruction is in execution, the positioning operation is not
affected.
• If there is a buffered instruction, positioning is performed for the position after the change
when the buffer is switched.
3-150
Done
Busy
Active
Error
Point where actual position is 200 mm
Done
Busy
16#0000
The actual position changes to
800 mm and reverse operation
is performed to move to a
position of 400 mm.
NY-series Motion Control Instructions Reference Manual (W561)
Time