Omron Sysmac NY-series Instruction & Reference Manual page 335

Name Meaning
Deceleration Decelera-
tion Rate
Jerk Jerk
(Reserved)
BufferMode Buffer
Mode Se-
lection
*1. To use _mcLatestCommand, the following condition must be met for the master and slave axes.
When you use this variable, the axis number set for the Master (Master Axis) in the system-defined variable for motion
control must be lower than the axis number set for the Slave (Slave Axis) in the system-defined variable for motion
control.
*2. The default value for an enumeration variable is actually not the number, but the enumerator.
*3. The task period is the primary period.
*4. 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.
Output Variables
Name Meaning
InGear Gear Ratio
Achieved
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.
 Output Variable Update Timing
Name
InGear When the following relationship is established.
•
Accelerating: Velocity of slave axis ≥ Velocity
of master axis × Gear ratio
•
Decelerating: Velocity of slave axis ≤ Velocity
of master axis × Gear ratio
Busy When Execute changes to TRUE.
Active When the instruction is started.
NY-series Motion Control Instructions Reference Manual (W561)
Data type Valid range
LREAL Non-negative number
LREAL 0
_eMC_BUF 0: _mcAborting
FER_MOD 1: _mcBuffered
E
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
Timing for changing to TRUE
3 Axis Command Instructions
De-
fault
0 Specify the deceleration rate.
The unit is command units/s
0 (Reserved)
Specify the behavior when executing
*2
0
more than one motion instruction.
0: Aborting
1: Buffered
Description
TRUE when the slave axis reaches the target velocity.
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.
Timing for changing to FALSE
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
Description
2 *4
.
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