Omron Sysmac NY-series Instruction & Reference Manual page 386

3 Axis Command Instructions
• Touch probe pos2 pos value (60BC hex)
If even one of the required objects is not set, a Process Data Object Setting Missing error (error code
3461 hex) occurs.
For details on mapping data objects, refer to 2-3 PDO Mapping on page 2-37 and to the NY-series
Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
Refer to I/O Entry Mappings in the NX-series Position Interface Units User's Manual (Cat. No. W524)
for information on using the NX-series Position Interface Units.
Instruction Details
This section describes the instruction in detail.
 Master (Master Axis)
Specify the master axis with Master.
 Slave (Slave Axis)
Specify the slave axis with Slave.
 TriggerInput (Trigger Input Condition) and TriggerVariable
These variables specify the input signal on which to start synchronization when the sync start condi-
tion is set to _mcTriggerDectection.
For the input signal selection and information on the timing when a trigger is generated, refer to
MC_TouchProbe on page 3-361.
If the Drive Mode is specified for Mode in TriggerInput (Trigger Input Condition), a drive input from the
slave axis is used.
If the Controller Mode is specified, TriggerVariable is used as the trigger signal.
 ReferenceType (Position Type Selection)
You can select one of the following position types.
• _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.
3-298
NY-series Motion Control Instructions Reference Manual (W561)