Omron Sysmac NY-series Instruction & Reference Manual page 174

3 Axis Command Instructions
Precautions for Correct Use
To change any input parameter other than Distance (Travel Distance), re-execute the instruction
with Distance (Travel Distance) assigned to the same value as the original instruction.
For example, if Distance (Travel Distance) is changed to 0 when the instruction is re-executed,
the re-executed instruction will use a Distance (Travel Distance) of 0 from the first time it is exe-
cuted. This will cause the axis to return to the original first position, as shown below.
Velocity
First position
of original
instruction
For details on re-execution of motion control instructions, refer to the NY-series Industrial Panel PC /
Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Multi-execution of Motion Control Instructions
For details on multi-execution of motion control instructions, refer to the NY-series Industrial Panel
PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
 Execution during Execution of Other Instructions
You can switch to this instruction or buffer this instruction if you execute it during execution of another
instruction.
You can buffer one instruction per axis.
The starting point for Distance (Travel Distance) for multi-execution of the motion instruction is the
command current position when Active (Controlling) changes to TRUE after the start of instruction ex-
ecution.
Specify the operation of this instruction using BufferMode (Buffer Mode Selection) for multi-execution
of instructions.
Buffer Mode Selec-
tion
Aborting
Buffered
Blending
3-86
Instruction re-executed.
Changed target velocity
Target position
Time
Aborts the instruction being executed and switches to this instruction.
If the direction of axis motion is reversed by switching instructions, the motion will be
reversed according to the Operation Selection at Reversing axis parameter.
Buffers this instruction and executes it automatically after the current instruction is com-
pleted.
Starts the buffered instruction at the velocity (transit velocity) at which the current in-
struction reaches the target position. The operation of the current instruction is
changed so that the axes reach the target position at the transit velocity. There are four
methods to specify the transit velocity. These are described below.
Description
NY-series Motion Control Instructions Reference Manual (W561)