Omron NY532-1500 Reference Manual page 358

3 Axis Command Instructions
Additional Information
The command position that is calculated in the same task period enables greater precision in
synchronization than the command position that was calculated in the previous task period.
However, 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.
Relationship between Axis Types and Position Types
The relationship between the axis types that you can monitor and position types that is monitored is
shown below.
Axis Type
Servo axis
Encoder axis
Virtual servo axis
Virtual encoder axis
* A Position Type Selection Out of Range error (error code: 5430 hex) occurs when the instruction is executed.
SlaveDistance (Slave Axis Travel Distance), MasterDistance (Master Axis
Travel Distance), MasterDistanceInACC (Master Distance in Acceleration),
and MasterDistanceInDEC (Master Distance in Deceleration)
The velocity and position of the slave axis are determined by the ratio of the travel distances of the
master axis and the slave axis as shown in the following figure. The master following distance
shown in the following figure represents the position where the sync start condition was met.
Master Axis Travel in Positive Direction
Master axis position
Master
following
distance
Slave axis position
Slave axis velocity
3-274
_mcCommand or _mcLatestCommand
OK
*
No
OK
*
No
MasterDistanceInDEC
MasterDistanceInACC
ReferenceType
MasterDistance
SlaveDistance
NY-series Motion Control Instructions Reference Manual (W561)
_mcFeedback
OK
OK
OK
OK
Time
Time
Time