Omron Sysmac NY-series Instruction & Reference Manual page 543

MC_SyncOffsetPosition Instruction
Execute
Active
OffsetPosition
Command position
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).
 Multi-execution of Instructions for the Target Synchronized Control Instructions
If you perform multi-execution of instructions for the synchronized control instruction for which this in-
struction is being executed, CommandAborted (Instruction Aborted) of this instruction changes to
TRUE. If blending is used for multi-execution of two MC_CamIn (Start Cam Operation) instructions,
CommandAborted (Instruction Aborted) of this instruction remains FALSE and processing is contin-
ued. In this case, the value of OffsetPosition (Position Offset) is added to the initial velocity.
The following timing chart shows the operation when this instruction is executed for an MC_GearIn
(Start Gear Operation) instruction and multi-execution of instructions is performed for another instance
of MC_GearIn (Start Gear Operation) before execution of the first instance is completed.
NY-series Motion Control Instructions Reference Manual (W561)
10
Primary period Task period
3 Axis Command Instructions
20
Solid line: After position offset is added
+20
+10
Dotted line: Before position offset is added
+10
+10
+10
3
Time
3-455