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6 Motion Control Programming
6-12
NJ-series CPU Unit Motion Control User’s Manual (W507)
• The following timing chart is for when the input variable Enable changes to TRUE and an error does
not occur for the instruction.
• The following timing chart is for when the input variable Enable changes to TRUE and an error occurs
for the instruction.
Additional Information
Enable and Enabled change at the same time for instructions such as MC_ZoneSwitch (Zone
Monitor) and MC_AxesObserve (Monitor Axis Following Error). For details on the timing of indi-
vidual instructions, refer to the
NJ-series Motion Control Instructions Reference Manual (Cat. No.
W508).
If the values of the input variables to the same instance are changed while the motion control instruction
is under execution and
Execute is changed to TRUE, FALSE, and then back to TRUE again, operation
will follow the new values.
The following timing chart is for when the velocity is changed for MC_MoveAbsolute (Absolute Position-
ing) instruction.
Timing Charts for Enable-type Instructions
6-4-3 Timing Chart for Re-execution of Motion Control Instructions
Enabled
Busy
Enable
Error
Enabled
Busy
Enable
Error
Busy
Execute
Done
Error
Active
Time
Target
velocity 1
Target
velocity 2
Velocity