Omron Sysmac NY-series Instruction & Reference Manual page 541

CA
Error
InputOffsetPosition
PreviousOffsetPos
MC_SyncOffsetPosition Instruction
CommandAborted
OutputtedOffsetPosition
Command position
(increased or decreased by offset)
 Executable Axis Status
You can execute this instruction for any axis for which Status.Synchronized (Synchronized Motion) in
the status of the axis specified for Axis is TRUE. An error will occur if the instruction is executed for an
axis in any other status.
 Command Position Handling
The value after the position offset is added is managed as the command position of the axis. There-
fore, the following errors may occur depending on the value that you set for the position offset.
• Operation Settings in Axis Parameters
a) Maximum Velocity
b) Maximum Acceleration
c) Maximum Deceleration
d) Velocity Warning Value
e) Acceleration Warning Value
f) Deceleration Warning Value
g) In-position Check Time
• Limit Settings in Axis Parameters
a) Software Limits
NY-series Motion Control Instructions Reference Manual (W561)
OutputtedOffsetPos
PreviousOffsetPos
0
Execute
OffsetPosition
0
Active
0
Offset
0
+60
+40
+20
3 Axis Command Instructions
ADD
EN ENO
In1 PreviousOffsetPos
In2
20 40
0
20 40 60
20 40 60
20 0 20 0 20 0
60
60
0
0
Time
3-453
3