Function - Omron NY532-1500 Reference Manual

Output Variable Update Timing
Name
InVelocity When the target velocity is reached.
Busy When Execute changes to TRUE.
Active When the instruction is started.
CommandAborted • When this instruction is canceled due to
another instruction.
• When this instruction is canceled due to
an error in another instruction.
• When this instruction is executed while
there is an axis error.
• When you start this instruction during
MC_Stop instruction execution.
Error When there is an error in the execution
conditions or input parameters for the
instruction.
In-Out Variables
Name Meaning
Axis Axis
* Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Axis***)
or a system-defined axis variable name (_MC_AX[*], _MC1_AX[*], or _MC2_AX[*]).

Function

• The MC_SyncMoveVelocity instruction outputs the target velocity from the user program every task
period to the Servo Drive in Cyclic Synchronous Velocity (CSV) Control Mode.
• When Execute changes to TRUE, the Control Mode of the Servo Drive is changed and a command
velocity is output.
• If this instruction is executed in the primary periodic task or a priority-5 periodic task, the target veloc-
ity is reached in the next task period.
The following timing charts show an example of the operation for when this instruction is executed in
the primary periodic task. The same information applies when it is used in a priority-5 periodic task.
MC_SyncMoveVelocity Programmed in Primary Periodic Task
Velocity
Target velocity (black dots)
specified with the input
Primary period
• If this instruction is executed in the priority-16 periodic task, the target velocity is reached in the next
task period.
NY-series Motion Control Instructions Reference Manual (W561)
Timing for changing to TRUE
Data type
_sAXIS_REF ---
Command
velocity
Time
3 Axis Command Instructions
Timing for changing to FALSE
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
• When Execute is TRUE and changes to FALSE.
• After one period when Execute is FALSE.
When the error is cleared.
Valid range
Specify the axis.
Servo
Command
Drive
velocity
Description
*
M
E
3-371
3