Omron Sysmac NY-series Instruction & Reference Manual page 137

Name Meaning
Jerk Jerk
Direction Direction
BufferMode Buffer Mode
Selection
MoveMode Travel
Mode
*1. Refer to Unit Conversion Settings in the NY-series Industrial Panel PC / Industrial Box PC Motion Control User's
Manual (Cat. No. W559) for information on command units.
*2. Always set the target velocity. A Target Velocity Setting Out of Range error (error code: 5422 hex) occurs when the
instruction is executed if the target velocity is not set.
*3. The default value for an enumeration variable is actually not the number, but the enumerator.
*4. When MoveMode is set to 1: Relative positioning, the travel direction is determined by the sign of the position.
Output Variables
Name Meaning
Done Done
Busy Executing
Active Controlling
CommandAborted Command
Aborted
Error Error
ErrorID Error Code
*1. The upper four digits of the event code give the error code for ErrorID. Refer to the NY-series Troubleshooting Manual
(Cat. No. W564) for the event codes.
NY-series Motion Control Instructions Reference Manual (W561)
Data type Valid range
LREAL Non-negative number
_eMC_DIREC- 0: _mcPositiveDirection
TION 1: _mcShortestWay
2: _mcNegativeDirec-
tion
3: _mcCurrentDirection
4: _mcNoDirection
_eMC_BUF- 0: _mcAborting
FER_MODE 1: _mcBuffered
2: _mcBlendingLow
3: _mcBlendingPrevi-
ous
4: _mcBlendingNext
5: _mcBlendingHigh
_eMC_MOVE_M 0: _mcAbsolute
ODE 1: _mcRelative
Data Valid
type range
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
WORD
*1
3 Axis Command Instructions
De-
fault
0 Specify the jerk.
The unit is command units/s
Specify the direction of rotation
*3
0
when MoveMode is set to 0:
Absolute positioning
when the Count Mode is Rotary
Mode.
0: Positive direction
1: Shortest way
2: Negative direction
3: Current direction
4: No direction specified
Specify the operation when exe-
*3
0
cuting more than one motion in-
struction.
0: Aborting
1: Buffered
2: Blending low
3: Blending previous
4: Blending next
5: Blending high
Select the travel method.
*3
0
0: Absolute positioning
1: Relative positioning
Description
TRUE when the instruction is completed.
TRUE when the instruction is acknowledged.
TRUE when the axis is being controlled.
TRUE when the instruction is aborted.
TRUE while there is an error.
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
Description
3 *1
.
*4
and
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3