Omron Sysmac NY-series Instruction & Reference Manual page 147

Precautions for Correct Use
• When you perform absolute positioning, set the target position so that it is less than the
Modulo Maximum Position Setting Value axis parameter and greater than or equal to the
Modulo Minimum Position Setting Value axis parameter.
If the target position is greater than or equal to the setting of the Modulo Maximum Position
Setting Value axis parameter or less than the setting of the Modulo Minimum Position
Setting Value axis parameter, a Target Position Setting Out of Range error (error code 5478
hex) will occur.
However, when 4: _mcNoDirection (No direction specified) is specified for Direction, you
can specify a Position (Target Position) outside the range specified by the modulo maximum
position and modulo minimum position setting values.
• If 3: _mcCurrentDirection (Current direction) is specified for Direction, operation is in the
same command direction as the previous motion. Therefore, depending on the instructions
that are used together, the direction may not be the same as the direction that was specified
with the input to the motion control instruction for the previous motion.
When you specify 3: _mcCurrentDirection, check the current direction with Dir.Posi (Posi-
tive Direction) and Dir.Nega (Negative Direction) in the Axis Variable.
 In-position Check
An in-position check is performed for this instruction according to the settings in In-position Range
and In-position Check Time axis parameters.
Timing Charts
• Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. Active (Control-
ling) changes to TRUE in the next period.
• Done changes to TRUE when Position (Target Position) is reached and positioning is completed.
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy (Execut-
ing) and Active (Controlling) change to FALSE.
Execute
Done
Busy
Active
CommandAborted
Error
ErrorID
Velocity
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
16#0000
Multi-execution of
another instruction
Time
3-59
3