Omron NY532-1500 Reference Manual page 589

Re-execution of Motion Control Instructions
The deceleration rate changes if Execute changes to TRUE again while this instruction is being exe-
cuted. The Jerk setting is not changed when a motion control instruction is re-executed.
Jerk Set to Value Other Than 0
The velocity command value is created with Dt2 as the upper limit of the deceleration rate after it has
changed based on the actual velocity and actual deceleration rate.
Interpolation velocity
Deceleration rate
Jerk
Vt: Velocity when deceleration starts, Dt: Specified deceleration rate, Jt: Specified jerk
Multi-execution of Motion Control Instructions
There are restrictions to execution of this instruction, and to other instructions executed during execu-
tion of this instruction. For details on multi-execution of motion control instructions, refer to the NJ/NX-
series CPU Unit Motion Control User's Manual (Cat. No. W507) or NY-series Industrial Panel PC /
Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Execution during Execution of Other Instructions
When Axes Group Is Disabled
An error occurs for the axes group if the MC_GroupStop instruction is executed for a disable axes
group. However, this will not affect the axes.
NY-series Motion Control Instructions Reference Manual (W561)
Execute
Vt
-Dt2
-Dt1
Jt
-Jt
4 Axes Group Instructions
Re-execute
4
Time
Time
Time
4-71