Omron Sysmac NY-series Instruction & Reference Manual page 245

Timing Charts
 Execution While Axis Is Stopped
The actual position starts changing when Execute changes to TRUE.
Busy (Executing) changes to TRUE when Execute changes to TRUE. Done changes to TRUE after
the actual position is changed.
Execute
Done
Busy
 Execution While Axis Is in Motion
If you execute this instruction while positioning to an absolute position, the target value will change ac-
cording to the change in position.
As an example, the axis operation and timing chart are shown below for a situation where the actual
position is changed from 200 mm to 800 mm while the axis is moved to 400 mm for an MC_MoveAb-
solute (Absolute Positioning) instruction.
The axis will move in the negative direction because the actual value is 800 mm and the target value
is 400 mm.
As shown in the following figure, even if the actual position is changed, the MC_MoveAbsolute (Abso-
lute Positioning) instruction will move the axis from the new actual position to the specified target posi-
tion. When the specified target position is reached, Done changes to TRUE.
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
3
3-157