Omron NY532-1500 Reference Manual page 244

3 Axis Command Instructions
Target position in the holding
direction (position command value)
Target velocity in the holding direction
(velocity command value)
• When the following error is set to 0, the maximum velocity that is set in the axis parameters is used to
implement a position command. The maximum acceleration and deceleration rates are not used.
• When the command to the new target position is completed, the Done output variable changed to
TRUE.
• This instruction implements a command position in the reverse direction to the direction in which the
following error occurred, but the Operation Selection at Reversing axis parameter is not used.
Precautions for Correct Use Precautions for Correct Use
• Execute this instruction only when the axis velocity is low.
This instruction implements a command value in the opposite direction to the previous instruc-
tion (e.g., in the opposite direction to the holding direction). If the axis speed is too high when
this instruction is executed, the controlled system may be subjected to shock.
• Before you execute this instruction for a vertical axis, for which constant torque is required,
make sure that the torque will not become insufficient.
• If an NX-series Pulse Output Unit is used, the following error in the Servo Drive that is con-
nected to the Pulse Output Unit is not reset. Refer to the NX-series Position Interface Units
User's Manual (Cat. No. W524) for details.
• Executing this Instruction for the Master Axis of Synchronized Control
If this instruction is executed for the master axis of synchronous control when the command
position is used as the synchronization data for the master axis, the slave axis will move in
the reverse direction according to the gear ratio or cam data variable.
Refer to Precautions for Master and Auxiliary Axes in Synchronized Control on page 1-6 for
precautions on the master axis.
Instruction Details
This section describes the instruction in detail.
Applicable Axes and Execution Condition
• You can use this instruction for servo and virtual servo axes in the following cases.
During single-axis position control
During the MC_MoveVelocity (Velocity Control) instruction
During synchronized control
• An error occurs if the instruction is executed for an encoder or virtual encoder axis.
3-160
Position
Holding stop position
Velocity
Following error
Start
Actual position
(actual position of motor)
Actual velocity
(actual velocity
of motor)
Holding
NY-series Motion Control Instructions Reference Manual (W561)
Command position
Time
Command
velocity
Time
Command sent to set
the following error to 0.
Time
Reset Following
Error Counter executed.