Omron Sysmac NY-series Instruction & Reference Manual page 200

3 Axis Command Instructions
Name Meaning
FirstPosition First Posi-
tion
LastPosition Last Posi-
tion
Reference- Position
Type Type Se-
lection
Position Target Po-
sition
Velocity Target Ve-
locity
Acceleration Accelera-
tion Rate
Deceleration Decelera-
tion Rate
Jerk Jerk
Direction Direction
MoveMode Travel
Mode
3-112
Data type Valid range
LREAL Negative number, positive
number, or 0
LREAL Negative number, positive
number, or 0
_eMC_REFER- 1: _mcFeedback
ENCE_TYPE
LREAL Negative number, positive
number, or 0
LREAL
Positive number
LREAL Non-negative number
LREAL Non-negative number
LREAL Non-negative number
_eMC_DIREC- 0: _mcPositiveDirection
TION 1: _mcShortestWay
2: _mcNegativeDirection
3: _mcCurrentDirection
4: _mcNoDirection
_eMC_MOVE_ 0: _mcAbsolute
MODE 1: _mcRelative
2: _mcVelocity
De-
fault
0 Specify the position where latch-
ing is enabled.
The unit is command units.
0 Specify the position where latch-
ing is disabled.
The unit is command units.
Specify the position type.
*2
1
1: Actual position (value ob-
tained in the same task period
0 If MoveMode is set to 0:
Absolute positioning, specify
the absolute target positions on
the absolute coordinate.
If MoveMode is set to 1:
Relative positioning, specify
the travel distance.
If MoveMode is set to 2:
Velocity control, specification is
not necessary.
The unit is command units.
0 Specify the target velocity.
*4
The unit is command units/s.
0 Specify the acceleration rate.
The unit is command units/s
0 Specify the deceleration rate.
The unit is command units/s
0 Specify the jerk.
The unit is command units/s
Specify the direction of rotation
*2
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
Select the travel method.
*2
0
0: Absolute positioning
1: Relative positioning
2:Velocity control
NY-series Motion Control Instructions Reference Manual (W561)
Description
*1
*1
*3
)
*1
*1
2 *1
.
2 *1
.
3 *1
.
*5
and