Omron NY532-1500 Reference Manual page 332

3 Axis Command Instructions
Master axis velocity
Slave axis velocity
Velocity
For the Slave (Slave Axis) to catch up with the Master (Master Axis) for the MasterSyncPosition
(Master Sync Position) and SlaveSyncPosition (Slave Sync Position), the following condition must
be met for the Velocity (Target Velocity)
Velocity >
The information that is used as the mater axis velocity depends on the setting of ReferenceType
(Position Type Selection).
When _mcCommand or _mcLatestCommand is set: Use the command current velocity.
When _mcFeedback is set:
If the Slave (Slave Axis) cannot catch up with the Master (Master Axis) for the MasterSyncPosition
(Master Sync Position) and SlaveSyncPosition (Slave Sync Position), a Positioning Gear Operation
Insufficient Target Velocity error (error code 5447 hex) will occur. Also, if you set the Count Mode to
Rotary Mode, make sure that the synchronous operation starts within one cycle of the ring counter.
• When the Count Mode is set to Rotary Mode, the operation is different for different unit versions of
the CPU Unit as described below.
• CPU Units with Unit Version 1.10 or Later
When the Count Mode of the master axis is Rotary Mode, you can specify a MasterSyncPosition
(Master Sync Position) outside the range specified by the modulo maximum position and modulo
minimum position setting values. If you do, the relationship between the master axis current posi-
tion and the master sync position will be the same as when no direction is specified for Direction in
the MC_MoveAbsolute (Absolute Positioning) instruction. Refer to MC_MoveAbsolute on page 3-
49 for information on the MC_MoveAbsolute (Absolute Positioning) instruction. In the same way,
when the Count Mode of the slave axis is Rotary Mode, you can specify a SlaveSyncPosition
(Slave Sync Position) outside the range specified by the modulo maximum position and modulo
minimum position setting values.
• CPU Units with Unit Version 1.09 or Earlier
If you set the Count Mode to Rotary Mode, make sure that the synchronous operation starts within
one cycle of the ring counter.
Precautions for Correct Use Precautions for Correct Use
Refer to Precautions for Master and Auxiliary Axes in Synchronized Control on page 1-6 for pre-
cautions on the master axis.
3-248
V (T )
m 1
Catching
phase
T
1
Master axis velocity when MC_GearInPos is executed × Gear ratio numerator
Time
InGear phase
V (T ) × Gear ratio
m 1
Time
Gear ratio denominator
Use the actual current position.
NY-series Motion Control Instructions Reference Manual (W561)