Omron NY532-1500 Reference Manual page 517

Multi-execution of MC_SyncOffsetPosition Instructions
If you perform multi-execution of MC_SyncOffsetPosition instructions, CommandAborted (Instruction
Aborted) of the instance for which execution is currently in progress changes to TRUE and the next
instance is executed. The starting point for instances that are executed later is found by adding the
position offset that was output one cycle before the previous instance was aborted. There are no other
instructions for which execution is aborted when multi-execution of instructions is used for this instruc-
tion.
A timing chart for multi-execution of MC_SyncOffsetPosition instructions is shown below.
MC_SyncOffsetPosition Instruction 1
Execute
OffsetPosition
CommandAborted
MC_SyncOffsetPosition Instruction 2
Execute
OffsetPosition
Command position
Errors
If an error occurs during instruction execution, Error will change to TRUE and the axes will stop.
You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
Timing Chart When Error Occurs
Execute
Busy
Active
CommandAborted
Error
ErrorID
NY-series Motion Control Instructions Reference Manual (W561)
0
Active
0
Active
Primary period
16#0000
3 Axis Command Instructions
10
20 30
+30
+30
+20 +10
+20 +10
+20 +10
+10
+10
+10
+10
After multi-execution of instructions
+10
Error code
Solid line: After position offset is added
+30
Dash-dot line:
Starting point for multi-execution of instructions
+10
Dotted line: Before position offset is added
Time
3
3-433