Omron Sysmac NY-series Instruction & Reference Manual page 549

Command
velocity
MC_OffsetPosition instruction
Execute
Done
Busy
Active
MC_GearIn instruction
Execute
Active
*1. When the MC_OffsetPosition instruction is executed
*2. When the MC_OffsetPosition instruction is not executed
Done (Done) changes to TRUE when OffsetPosition (Position Offset) is reached.
An in-position check is not performed for this instruction.
When the currently executing synchronized control instruction is completed, CommandAborted (In-
struction Aborted) of this instruction changes to TRUE.
The following shows the timing chart for an example in which this instruction is executed during execu-
tion of the MC_GearIn (Start Gear Operation) instruction, and then is stopped as CommandAborted
(Instruction Aborted) for the MC_GearIn instruction changes to TRUE.
Command
velocity
MC_OffsetPosition instruction
Execute
Busy
Active
CommandAborted
MC_GearIn instruction
Execute
Active
CommandAborted
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
*1
*2
*1
*2
Time
Time
3-461
3