Omron Sysmac NY-series Instruction & Reference Manual page 446

3 Axis Command Instructions
Set FirstPosition to a larger value than LastPosition.
Modulo Maximum
Position
Modulo Minimum
Position
InZone
FirstPosition = 330°
LastPosition = 210°
 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.
Precautions for Correct Use
Here, the task period is the primary period. The periodic task is the primary periodic task.
 Relationship between Axis Types and Position Types
The relationship between the axis types that you can monitor and position types that is monitored is
shown below.
Axis Type
Servo axis
Encoder axis
Virtual servo axis
Virtual encoder axis
*1. A Position Type Selection Out of Range error (error code: 5430 hex) occurs when the instruction is execut-
ed.
3-358
Zone
- +
0
Zone
: The positions indicated with
open dots are not included.
ReferenceType
_mcCommand _mcFeedback
OK OK
OK
*1
No
OK OK
OK
*1
No
Zone
NY-series Motion Control Instructions Reference Manual (W561)
FirstPosition
LastPosition