Omron NY532-1500 Reference Manual page 451

ReferenceType (Position Type Selection) Set to _mcFeedback
The DeviatedValue (Following Error between Axes) is the shorter distance between the actual cur-
rent position of the Master (Master Axis) and the actual current position of the Slave (Slave Axis) in
the range of the ring counter. The sign of the DeviatedValue (Following Error between Axes) is the
sign for the shorter direction, as given below.
• If the actual current position of the Master (Master Axis) is greater than or equal to the actual cur-
rent position of the Slave (Slave Axis), the value is positive.
• If the actual current position of the Master (Master Axis) is less than the actual current position of
the Slave (Slave Axis), the value is negative.
DeviatedValue (Following Error between Axes) Calculation Example in Rotary Mode when Refer-
enceType (Position Type Selection) Is Set to _mcCommand
Modulo maximum position
setting value: 100
0
Modulo minimum position
setting value: −70
If ReferenceType (Position Type Selection) is _mcFeedback in Rotary Mode, the "command current
position" in the above diagram would be the "actual current position."
Timing Charts
An error for this instruction does not affect the operation of the axis or axes group. A timing chart is
given below for when PermittedDeviation (Permitted Following Error) is 10.0.
Enable
Enabled
Invalid
Busy
Error
Error ID
Deviated Value
Master axis
command position
Slave axis
command position
NY-series Motion Control Instructions Reference Manual (W561)
Master command current position: 50
Slave command current position: −20
70
|DeviatedValue| is 70 (because 70 is less than 100).
The sign is positive because the command current position of
the Master is greater than or equal to the command current
position of the Slave, so the DeviatedValue is +70.
0 0 0 10 12 -2 3 5 21 20 0 0 0 0 0 0 0
20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52
21 20 24 16 16 32 29 29 15 18 40 42 23 25 28 30 31
3 Axis Command Instructions
Slave command current position: −20
100
0
3
3-367