Omron Sysmac NY-series Instruction & Reference Manual page 430

3 Axis Command Instructions
Position Control Instruction (First Instruction)
Execute
CommandAborted
MC_TorqueControl Instruction (Second Instruction)
Execute
InTorque
CommandAborted
Current velocity
Velocity
Torque
Instruction Execution for Buffered during Immediately Preceding Operation
The following timing chart shows an application in which the axis stops and holding is performed while
this instruction is in execution.
3-342
Done
Busy
Active
Busy
Active
Position control
Axis current
velocity
Position control
Torque
Current torque
Torque control
When the axis is held
against the workpiece
Torque control
Command torque
NY-series Motion Control Instructions Reference Manual (W561)
Time
Time