Omron NY532-1500 Reference Manual page 401

The operation for reversing for multi-execution of instructions is as follows:
• If the command position reverses for multi-execution of an instruction that uses CSP during execu-
tion of this instructions, the operation at reversing is performed according to the Operation Selec-
tion at Reversing axis parameter.
• If the torque command value reverses when multi-execution of this instruction is performed during
execution of an instruction that uses CSP or CSV, the torque command reverses according to
TorqueRamp.
• If the torque command value reverses when multi-execution of this instruction is performed during
execution of this instruction, the torque command reverses according to TorqueRamp.
Timing Charts
Starting and Stopping the Instruction
Execute
InTorque
Busy
Active
CommandAborted
Current velocity
Velocity
Torque
NY-series Motion Control Instructions Reference Manual (W561)
Torque control
Torque control
Torque
Command torque
Current torque
3 Axis Command Instructions
Stopping with MC_Stop
Position control
Axis current velocity
Time
Position control
Torque control for the velocity
limit of the Servo Drive
Time
3
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