Omron Sysmac NY-series Instruction & Reference Manual page 101

PositiveEnable
NegativeEnable
Busy
CommandAborted
Error
ErrorID
Velocity
You can specify the Velocity (Target Velocity), Acceleration (Acceleration Rate), and Deceleration (De-
celeration Rate) as input variables.
Input variables Velocity (Target Velocity), Acceleration (Acceleration Rate), and Deceleration (Deceler-
ation Rate) are updated in the motion only when PositiveEnable (Positive Direction Enable) or
NegativeEnable (Negative Direction Enable) changes to TRUE. Therefore, the axis velocity will not
change even if Velocity (Target Velocity) changes while PositiveEnable (Positive Direction Enable) or
NegativeEnable (Negative Direction Enable) remains TRUE.
 Timing Chart When Target Velocity Is 0
When the Velocity (Target Velocity) is 0 and you start jogging the axis, the axis will enter continuous
operation without motion. The following timing chart shows an example when the Velocity (Target Ve-
locity) is 0 and you start jogging the axis.
NY-series Motion Control Instructions Reference Manual (W561)
Target velocity
Acceleration
3 Axis Command Instructions
16#0000
Deceleration
Time
Decelerates to a stop
when another instruction
causes an error.
3-13
3