Omron NY532-1500 Reference Manual page 275

Re-execution Procedure
For the procedure to re-execute this instruction, refer to Sample Programming 1 on page 3-192 and
Sample Programming 2 on page 3-203.
Multi-execution of Motion Instructions
For details on multi-execution of motion control instructions, 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).
Execution of Other Instructions during Instruction Execution
Multi-execution of instructions cannot be used for the MC_GenerateCamTable (Generate Cam
Table) instruction during execution of an MC_CamIn instruction for which the same cam table is
specified with CamTable.
To use multi-execution of motion instructions for this instruction, specify the slave axis. When multi-
execution of another instruction is performed while this instruction is in execution, the following limits
apply depending on the Buffer Mode.
• When another instruction is executed by using multi-execution with BufferMode set to Aborting,
the cam motion is aborted and the next operation is started.
• When another instruction is executed with BufferMode set to Buffered, the command position of
the next operation is output when EndOfProfile (End of Cam Cycle) changes to TRUE.
Multi-execution of MC_CamIn Instructions with Buffer Mode in Blending
• You can specify blending only for multi-execution of two MC_CamIn instructions. You cannot exe-
cute this instruction with blending during execution of any other instruction.
• Specify the same values for Master (Master Axis) and ReferenceType (Position Type Selection)
as those specified in the instruction that is currently in operation. If you specify different values, a
Motion Control Instruction Multi-execution Disabled error will occur.
• The InSync output variable from the buffered instruction changes to TRUE in the period in which
the current instruction is completed normally, and cam operation starts without the slave axis ever
stopping.
• Even if StartPosition (Cam Table Start Position) and MasterStartDistance (Master Following Dis-
tance) are specified, the slave axis starts cam operation as soon as instruction execution starts
regardless of the values that are specified. The starting point in the cam table is the final position
for the current instruction. The operation is the same regardless of which of the four types of
blending is specified.
Execution during Execution of Other Instructions
Multi-execution of instructions cannot be used for this instruction during execution of the MC_Gener-
ateCamTable (Generate Cam Table) instruction for which the same cam table is specified with
CamTable.
Master Axis and Slave Axis Compensations
There are the following two instructions that shift the phase of master and slave axes during syn-
chronized control.
• MC_Phasing (Shift Master Axis Phase)
• MC_SyncOffsetPosition (Cyclic Synchronous Position Offset Compensation)
If multi-execution of instructions causes any synchronized control instruction other than the MC_-
CamIn (Start Cam Operation) instruction to be aborted (i.e., if the CommandAborted output variable
changes to TRUE), any instructions that shift the phase are also aborted.
If blending is used for multi-execution of two MC_CamIn (Start Cam Operation) instructions, the
instructions that shift the phase are not aborted and processing is continued.
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
3
3-191