Omron Sysmac NY-series Instruction & Reference Manual page 277

Displacement
SlaveOffset < 0
Displacement
 ReferenceType (Position Type Selection)
Any of the following position types can be selected for the master axis to which the slave axis is
synchronized.
• _mcCommand: Command position (value calculated in the previous task period)
The master axis command position that was calculated in the previous task period is used for the
current period.
The command value that was calculated for the master axis in the last periodic task is used to calcu-
late the command position of the slave axis in the current period.
• _mcFeedback: Value obtained in the same task period
The actual position of the master axis that was obtained in the same task period is used.
• _mcLatestCommand: Command position (value calculated in the same task period)
The command position of the master axis that was calculated in the same task period is used.
This enables the use of information that is more recent than for _mcCommand. However, the axis
number of the master axis must be set lower than the axis number of the slave axis.
If the axis number of the slave axis is lower than the axis number of the master axis, Error will
change to TRUE. A Master/Slave Axis Numbers Not in Ascending Order error (error code: 5438
hex) will be output to ErrorID.
NY-series Motion Control Instructions Reference Manual (W561)
SlaveOffset = 50
Cam table start position
SlaveOffset = −50
Cam table start position
3 Axis Command Instructions
Phase
Phase
3
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