Omron Sysmac NY-series Instruction & Reference Manual page 150

3 Axis Command Instructions
Operation Example
In this sample, BufferMode (Buffer Mode Selection) is set to Buffered for MC_MoveAbsolute (Abso-
lute Positioning) instructions and the axis is moved to the final target position by executing multiple in-
structions.
When the axis reaches the final target position, it is returned to home with the MC_ZeroPosition (High-
speed Home) instruction.
Multi-execution of instructions is performed when the Active (Controlling) output variable from the pre-
vious instruction is TRUE. For single-axis operation, multi-execution is possible for only one instruc-
tion.
 Operation Pattern
Operation started.
Velocity (mm/s)
30.00
20.00
10.00
0
250.00
1
Turning ON the Operation Start Switch
When you turn ON the operation start switch at home, axis 1 is positioned to 50.00 mm in the pos-
itive direction.
2
Turning ON the Operation Start Switch Again
Thereafter, axis 1 is positioned to 100.00 mm and 200.00 mm, and then returns to home and
stops. The operation start switch must be turned ON once for each of these motions.
Ladder Diagram
 Main Variables
Name
MC_Axis000
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
3-62
Multi-execution of
Multi-execution of
instructions
instructions
Operation started.
(1)
50.00
Data type
_sAXIS_REF
BOOL
BOOL
Multi-execution of
instructions
Operation started.
(3)
(2)
100.00
(4)
MC_MoveZeroPosition (High-speed Home)
instruction executed.
Default
--- Axis Variable for axis 1.
FALSE TRUE while there is a minor fault level error for
axis 1.
FALSE TRUE when home is defined for axis 1.
NY-series Motion Control Instructions Reference Manual (W561)
Operation started.
Positive direction
200.00 Axis 1 (mm)
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