Omron Sysmac NY-series Instruction & Reference Manual page 494

3 Axis Command Instructions
Additional Information
The MC Function Module sends a command to the Servo Drive to change the Control Mode as
shown in the above timing chart. The timing of implementing the change in the Servo Drive
depends on Servo Drive specifications.
Re-execution of Motion Control Instructions
This instruction cannot be re-executed.
A Motion Control Instruction Re-execution Disabled error (error code: 543B hex) occurs if re-execution
is attempted.
Multi-execution of Motion Control Instructions
For details on multi-execution of motion control instructions, refer to the NY-series Industrial Panel
PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
 Execution during Execution of Other Instructions
You can switch to this instruction or buffer this instruction if you execute it during execution of another
instruction.
You can buffer one instruction per axis.
Specify the operation of this instruction using BufferMode (Buffer Mode Selection) for multi-execution
of instructions.
Buffer Mode Selec-
tion
Aborting
For details on BufferMode (Buffer Mode Selection), refer to the NY-series Industrial Panel PC /
Industrial Box PC Motion Control User's Manual (Cat. No. W559).
 Execution of Other Instructions during Instruction Execution
If you execute another instruction during execution of this instruction, you can specify only Aborting.
Errors
If an error occurs during instruction execution, Error will change to TRUE.
You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
3-406
Aborts the instruction being executed and switches to this instruction.
If the direction of axis motion is reversed by switching instructions, the motion will be re-
versed according to the Operation Selection at Reversing axis parameter.
Description
NY-series Motion Control Instructions Reference Manual (W561)