Omron Sysmac NY-series Instruction & Reference Manual page 144

3 Axis Command Instructions
Velocity
Target
velocity
0 Command current
position
Specify Jerk when you want to accelerate or decelerate smoothly.
The following chart shows an operation example when Jerk is specified.
Velocity
Target
velocity
Command current
0
position
For details on Jerk, refer to the NY-series Industrial Panel PC / Industrial Box PC Motion Control
User's Manual (Cat. No. W559).
When the positioning is started with Position (Target Position) set to the command current position, the
axis will not move but Done will change to TRUE.
Instruction Details
This section describes the instruction in detail.
 Direction
Direction specifies the direction for starting positioning when the Count Mode is Rotary Mode.
Direction is not used if the Count Mode is Linear Mode.
Positioning starts in the positive direction towards the target position when 0: _mcPositiveDirection
(Positive direction) is specified for Direction.
The following chart shows an operation example when positioning starts with a command position of
50 and moves toward -20.
3-56
Deceleration
Time
Target position
Time
Target position
NY-series Motion Control Instructions Reference Manual (W561)