Omron NY532-1500 Reference Manual page 328

3 Axis Command Instructions
Name Meaning
MasterSync Master Sync
Position Position
SlaveSync Slave Sync
Position Position
Velocity Target Veloc-
ity
Acceleration Acceleration
Rate
Deceleration Deceleration
Rate
Jerk Jerk
(Reserved)
BufferMode Buffer Mode
(Reserved) Selection
*1 A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are required to use this variable. For
any previous version combinations, the data type is UINT and the valid range is positive numbers.
*2 A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are required to use this variable. For
any previous version combinations, the data type is UINT.
*3 To use _mcLatestCommand, the following condition must be met for the master and slave axes.
When you use _mcLatestCommand, the axis number set for the Master (Master Axis) in the system-defined variable for
motion control must be lower than the axis number set for the Slave (Slave Axis) in the system-defined variable for motion
control.
*4 The default value for an enumeration variable is actually not the number, but the enumerator.
*5 The task period is the primary period if the task is the primary periodic task and the task period of the priority-5 periodic
task if the task is the priority-5 periodic task.
*6 Refer to Unit Conversion Settings in the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) or NY-
series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559) for information on command
units.
Output Variables
Name Meaning
StartSync Following
InSync In Sync
Busy Executing
Active Controlling
CommandAborted Command
Aborted
Error Error
ErrorID Error Code
* Refer to the NY-series Troubleshooting Manual (Cat. No. W564).
3-244
Data type Valid range
LREAL Negative number, posi-
tive number, or 0
LREAL Negative number, posi-
tive number, or 0
LREAL Positive number
LREAL Non-negative number
LREAL Non-negative number
LREAL 0
_eMC_ 0: _mcAborting
BUFFER_
MODE
Data type Valid range
BOOL TRUE or FALSE
BOOL TRUE or FALSE
BOOL TRUE or FALSE
BOOL TRUE or FALSE
BOOL TRUE or FALSE
BOOL TRUE or FALSE
WORD *
Default
0 Specify the absolute master sync
position. The unit is command
units.
0 Specify the absolute slave sync posi-
tion. The unit is command units.
0 Specify the target velocity. Always
set the target velocity. If the axis is
moved without setting a target veloc-
ity, an error will occur. The unit is
command units/s.
0 Specify the acceleration rate. The
unit is command units/s
0 Specify the deceleration rate. The
unit is command units/s
0 (Reserved)
*2 (Reserved)
0
Description
TRUE when acceleration/deceleration is started for
synchronization.
TRUE when the slave axis reaches the slave sync
position.
TRUE when the instruction is acknowledged.
TRUE when the axis is being controlled.
TRUE when the instruction is aborted.
TRUE while there is an error.
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
NY-series Motion Control Instructions Reference Manual (W561)
Description
*6
*3
*3
2 *3
.
2 *3
.