Omron Sysmac NY-series Instruction & Reference Manual page 209

FirstPosition > LastPosition
FirstPosition
LastPosition
 ReferenceType (Position Type Selection)
The position type is as follows:
• _mcFeedback: Value obtained in the same task period
The actual position of the master axis that was obtained in the same task period is used.
Here, the task period is the primary period.
 FeedDistance
Specify a positive value for FeedDistance to perform feed in the same direction as the motion before
the interrupt input. Specify a negative value for FeedDistance to perform feed in the opposite direction
as the motion before the interrupt input.
For example, if you specify a positive value for FeedDistance when the motion was in the negative
direction before the interrupt input, feeding is performed in the negative direction. If you specify a neg-
ative value for FeedDistance, feeding is performed in the positive direction.
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.
• After an interrupt input, InFeed changes to TRUE and when FeedDistance is reached and position-
ing is completed, Done changes to TRUE.
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy (Execut-
ing) and Active (Controlling) change to FALSE.
NY-series Motion Control Instructions Reference Manual (W561)
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0 FirstPosition
Window only range
3 Axis Command Instructions
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Window only range
0
LastPosition
: The positions indicated with
open dots are not included.
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