Omron Sysmac NY-series Instruction & Reference Manual page 493

If InPosition is TRUE before the actual position is changed, it will change to FALSE the next period
after it is changed.
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.
• InPosition changes to TRUE when the actual current position is within the in-position range from
Position (Target Position).
• If another instruction aborts this instruction, CommandAborted changes to TRUE and Busy (Execut-
ing), Active (Controlling), and InPosition change to FALSE.
• The MC_Stop instruction is used to stop this instruction.
The following timing charts show operation for when this instruction is executed in the primary periodic
task.
MC_SyncMoveAbsolute instruction
Execute
Position
InPosition
Busy
Active
CommandAborted
Error
ErrorID
MC_Stop Instruction
Execute
Busy
Active
Done
Command position
60
50
40
30
20
NY-series Motion Control Instructions Reference Manual (W561)
20 30 40 50 60
0
3 Axis Command Instructions
40
16#0000
3
Time
3-405