Omron Sysmac NY-series Instruction & Reference Manual page 492

3 Axis Command Instructions
Instruction Details
This section describes the instruction in detail.
 In-position Check
If Position (Target Position) is not changed, InPosition changes to TRUE when the difference between
the target position and the actual position is within the range that is set for the In-position Range axis
parameter.
Even if the target position is changed while InPosition is TRUE, it will remain TRUE for the remainder
of the period and change to FALSE the next period.
The setting of the In-position Check Time axis parameter is disabled.
 Stop Processing
This section describes the methods that are used to stop axis operations.
Use the MC_Stop or MC_ImmediateStop instruction to stop operation. If one of these instructions is
executed, CommandAborted for this instruction will change to TRUE.
Stopping with the MC_Stop Instruction
An immediate stop is performed.
Stopping with the MC_ImmediateStop Instruction
An immediate stop is performed according to the setting of the Immediate Stop Input Stop Method
axis parameter.
 Stopping Due to Errors
If an error that causes the axes to stop occurs, an immediate stop is performed regardless of any set-
tings.
 Applicable Axes
• You can use this instruction for a servo axis.
To use this instruction, change Enable for the MC_Power instruction to TRUE (Servo ON).
• A virtual servo axis will acknowledge this instruction at any time.
• An error occurs if the instruction is executed for an encoder or virtual encoder axis.
 Axis Variable Status
Status.Discrete (Discrete Motion) in the axis status in the Axis Variable changes to TRUE.
The Axis Control Status is not affected.
 Overrides
Overrides are disabled for this instruction.
 Changing the Actual Position
When the actual position is changed with the MC_SetPosition instruction, the travel distance from the
new actual position to the target position that is specified for Position (Target Position) is output.
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NY-series Motion Control Instructions Reference Manual (W561)