Omron SYSMAC-SE20 Series Startup Manual page 15

Additional Information
Set the sampling time of the Controller so that it matches the task period of the Sysmac
Studio. (Primary periodic task period on the Sysmac Studio: 500 μs, 1 ms, 2 ms, or 4 ms)
The following figure shows the inside of the Controller block.
The Controller block is composed of two blocks; the CommandPositionGenerator block for
creating position command values and the PositionController block for position control.
You will get the simulation execution results as shown below.
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