Omron Sysmac NY-series Instruction & Reference Manual page 424

3 Axis Command Instructions
Name Meaning
Direction Direction
BufferMode Buffer
Mode Se-
lection
*1. If a value that is higher than 1,000.0% is specified, it will be treated as 1,000.0%. If a negative value is specified, it will
be treated as 0.0%.
*2. 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.
*3. The default value for an enumeration variable is actually not the number, but the enumerator.
Output Variables
Name Meaning
InTorque Target Torque
Reached
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
InTorque When target torque is output.
Busy When Execute changes to TRUE.
Active When output of the torque command value starts.
3-336
Data type Valid range
_eMC_DIREC- 0: _mcPositiveDirection
TION 2: _mcNegativeDirection
_eMC_BUF- 0: _mcAborting
FER_MODE 1: _mcBuffered
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
De-
fault
Specify the direction of the target
*3
0
torque.
0: Positive direction
2: Negative direction
Specify the behavior when execut-
*3
0
ing more than one motion instruc-
tion.
0: Aborting
1: Buffered
Description
TRUE when the target torque is reached.
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 the instruction is re-executed and the
target torque is changed.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
NY-series Motion Control Instructions Reference Manual (W561)
Description