Omron NJ501-1400 User Manual page 143

Variable name
Cmd _sAXIS_REF_CMD
_DATA
Pos LREAL
Vel LREAL
AccDec LREAL
Jerk LREAL
Trq LREAL
Act _sAXIS_REF_ACT_
DATA
Pos LREAL
Vel LREAL
Trq LREAL
NJ-series CPU Unit Motion Control User's Manual (W507)
Data type Meaning
Axis Command Values
Command Current
Position
Command Current
Velocity
Command Current
Acceleration/Decelera-
tion
Command Current
Jerk
Command Current
Torque
Axis Current Value
Actual Current Position Contains the actual current position. (Unit: com-
Actual Current Velocity Contains the actual current velocity. (Unit: com-
Actual Current Torque
6 Motion Control Programming
Function
Contains the current value of the command posi-
tion. (Unit: command units)
When the Servo is OFF and the mode is not posi-
tion control mode, this variable contains the actual
current position.
Contains the current value of the command veloc-
ity. (Unit: command units/s)
A plus sign is added during travel in the positive
direction, and a minus sign during travel 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 accel-
eration/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. The value
is 0 when the command acceleration/deceleration
rate of the instruction under execution is 0.
Contains the current value of the command jerk.
3
(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. The
value is 0 when the command acceleration/decel-
eration 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 during travel in the positive
direction, and a minus sign during travel in the
negative direction. Contains the same value as
the actual current torque except in torque control
mode.
mand units)
mand units/s)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction.
Contains the current value of the actual torque.
(Unit: %)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction.
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