Omron Sysmac NY-series Instruction & Reference Manual page 180

3 Axis Command Instructions
Execute
InVelocity
Busy
Active
CommandAborted
Error
ErrorID
Velocity
Target velocity
When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0 and the instruction
is executed, the axis will reach the target velocity without accelerating or decelerating.
The following chart shows an operation example of when the Acceleration (Acceleration Rate) is 0.
Velocity
Target
velocity
0
Specify Jerk when you want to accelerate or decelerate smoothly.
The following chart shows an operation example when Jerk is specified.
Velocity
Target
velocity
0
For details on Jerk, refer to the NY-series Industrial Panel PC / Industrial Box PC Motion Control
User's Manual (Cat. No. W559).
Re-execution of Motion Control Instructions
You can change the operation of the instruction if you change an input parameter during continuous
operation and then change Execute to TRUE again.
Input variables Velocity (Target Velocity), Acceleration (Acceleration Rate), and Deceleration (Deceler-
ation Rate) can be changed by re-executing the motion control instruction.
3-92
16#0000
Time
Time
NY-series Motion Control Instructions Reference Manual (W561)
Time