Omron NY532-1500 Reference Manual page 393

Example: Master Axis Phase Shift for an Electronic Cam
The interpolation velocity as viewed from the Slave (Slave Axis) is the velocity relative to the Master
(Master Axis) velocity.
Command Aborted
Master axis position as
viewed from the slave axis
Master axis velocity as
viewed from the slave axis
Slave axis position
• If you set the phase shift amount to 0, the phase shift amount of the Master (Master Axis) will be 0
and the instruction ends normally.
• If you set the target velocity (shift velocity) to 0, a Slave (Slave Axis) error will occur because the
value is out of range.
• The sum of the specified target velocity (shift velocity) and the Master (Master Axis) velocity can
exceed the maximum velocity of the Master (Master Axis).
Additional Information
Error detection for the results of the MC_Phasing instruction is performed for the operation of the
synchronized Slave (Slave Axis). Therefore, error detection is not performed for the settings of
the Velocity (Target Velocity), Acceleration (Acceleration Rate), and Deceleration (Deceleration
Rate) variables when the MC_Phasing instruction is executed.
BufferMode (Buffer Mode Selection)
BufferMode specifies how to join the axis motions for this instruction and the previous instruction.
There is currently only the following setting.
Buffer Mode Selection
Aborting
NY-series Motion Control Instructions Reference Manual (W561)
Execute
Done
Busy
Active
Error
ErrorID
If this instruction is re-executed, the shift for the instruction is
started immediately.
3 Axis Command Instructions
16#0000
Actual master axis position
Target velocity
Description
3
Time
Time
Slave axis position
when phase offset is 0
Time
3-309