Mc_Axesobserve; Variables - Omron NY532-1500 Reference Manual

MC_AxesObserve

The MC_AxesObserve instruction monitors the deviation between the command position or feedback
position for the specified axis to see if it exceeds the allowed value.
Instruction Name
MC_AxesObserve Monitor Axis
Following
Error

Variables

Input Variables
Name Meaning
Enable Enable
ReferenceType Position Type
Selection
Permitted Permitted
Deviation Following
Error
*1 The default value for an enumeration variable is actually not the number, but the enumerator.
*2 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.
*3 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.
NY-series Motion Control Instructions Reference Manual (W561)
FB/
Graphic expression
FUN
FB
MC_AxesObserve_instance
MC_AxesObserve
Master
Slave
Enable
ReferenceType
PermittedDeviation
Data type
BOOL TRUE or FALSE
_eMC_ RERE- 0: _mcCommand
RENCE_TYPE
1: _mcFeedback
LREAL Non-negative number
3 Axis Command Instructions
MC_AxesObserve_instance (
Master :=parameter,
Slave :=parameter,
Master
Enable :=parameter,
Slave
ReferenceType :=parameter,
Enabled
PermittedDeviation :=parameter,
Invalid
Enabled =>parameter,
Busy
Invalid =>parameter,
DeviatedValue
Busy =>parameter,
Error
DeviatedValue =>parameter,
ErrorID
Error =>parameter,
ErrorID =>parameter
);
Valid range Default
FALSE
*1
0
0
ST expression
Description
The instruction is executed
when Enable is TRUE.
Specify the position type.
0: Command position (value
calculated in the previous
*2
task period )
1: Actual position (value
obtained in the same task
*2
period )
Specify the permitted maxi-
mum value of the following
error between the master
and slave axes. The unit is
*3
command units.
3-363
3