Omron NY532-1500 Reference Manual page 403

Instruction Execution for Buffered during Immediately Preceding Operation
The following timing chart shows an application in which the axis stops and holding is performed
while this instruction is in execution.
Position Control Instruction (First Instruction)
CommandAborted
MC_TorqueControl Instruction (Second Instruction)
CommandAborted
Changing the Control Mode
• If you execute the MC_TorqueControl instruction while a position control instruction, such as the
MC_MoveAbsolute (Absolute Positioning) or MC_MoveRelative (Relative Positioning) instruction,
is in execution, the operation depends on the setting of the BufferMode (Buffer Mode Selection) of
the MC_TorqueControl instruction.
If BufferMode is set to Aborting, the Control Mode changes to Torque Control as soon as the
instruction is executed. If the Buffer Mode is set to Buffered, the Control Mode changes to Torque
Control after the previous operation is completed.
• If the MC_TorqueControl instruction is aborted by other instructions such as MC_MoveAbsolute
(Absolute Positioning), or if an axis error occurs, the Control Mode changes to Position Control at
that point.
• Active (Controlling) changes when the instruction is executed, but it takes several periods for the
Control Mode in the Servo Drive to change. The time that is required for the Control Mode to
change depends on the Servo Drive.
NY-series Motion Control Instructions Reference Manual (W561)
Execute
Done
Busy
Active
Execute
InTorque
Busy
Active
Current velocity
Position control
Velocity
Axis current
velocity
Position control
Torque
Current torque
Torque
3 Axis Command Instructions
Torque control
When the axis is held
against the workpiece
Torque control
Command torque
3
Time
Time
3-319