Omron NY532-1500 Reference Manual page 52

2 Variables and Instructions
Name
Cmd
Pos
Vel
AccDec
Jerk
Trq
Act
Pos
Vel
Trq
TimeStamp
MFaultLvl
Active
Code
2-6
Data type
_sAXIS_REF_CMD_ Axis Command Value
DATA
LREAL Command Current Position
LREAL Command Current Velocity
LREAL Command Current Acceler-
ation/Deceleration
LREAL Command Current Jerk
LREAL Command Current Torque
_sAXIS_REF_ACT_- Axis Current Value
DATA
LREAL Actual Current Position
LREAL Actual Current Velocity
LREAL Actual Current Torque
ULINT Time Stamp
_sMC_REF_EVENT Axis Minor Fault
BOOL Axis Minor Fault Occur-
rence
WORD Axis Minor Fault Code
Meaning
Contains the current value of the command posi-
tion. (Unit: command units)
When the Servo is OFF and the mode is not
position control mode, this variable contains the
actual current position.
Contains the current value of the command
velocity. (Unit: command units/s)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling in
the negative direction. The velocity is calculated
from the difference with the command current
position. When the Servo is OFF and the mode
is not the position control mode, the velocity is
calculated based on the actual current position.
Contains the current value of the command
acceleration/deceleration rate. (Unit: command
2
units/s )
The acceleration/deceleration rate is calculated
from the difference with the command current
velocity. A plus sign is added for acceleration,
and a minus sign is added for deceleration. Zero
when the command acceleration/deceleration
rate of the instruction under execution is 0.
Contains the current value of the command jerk.
(Unit: command units/s
A plus sign is added when the absolute value of
acceleration/deceleration is increasing, and a
minus sign is added when it is decreasing. Zero
when the command acceleration/deceleration
rate and command jerk of the instruction under
execution is 0.
Contains the current value of the command
torque. (Unit: %)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling in
the negative direction. Contains the same value
as the actual current torque except in torque
control mode.
Contains the actual current position. (Unit: com-
mand units)
Contains the actual current velocity. (Unit: com-
mand units/s)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling in
the negative direction.
Contains the current value of the actual torque.
(Unit: %)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling in
the negative direction.
Contains the time when the current position of
the axis was updated. This variable is valid for
an axis for which time stamping is operating.
(Unit: ns)
TRUE while there is an axis minor fault.
Contains the code for an axis minor fault. The
upper four digits of the event code have the
same value.
NY-series Motion Control Instructions Reference Manual (W561)
Function
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3
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