Omron Sysmac NY-series Instruction & Reference Manual page 54

2 Variables and Instructions
Name
Idle BOOL
InPosWaiting BOOL
Homed BOOL
InHome BOOL
BOOL
*4
VelLimit
Dir _sAXIS_REF_DIR
Posi BOOL
Nega BOOL
DrvStatus _sAX-
IS_REF_STA_DRV
ServoOn BOOL
Ready BOOL
MainPower BOOL
P_OT BOOL
N_OT BOOL
HomeSw BOOL
Home BOOL
ImdStop BOOL
Latch1 BOOL
Latch2 BOOL
DrvAlarm BOOL
DrvWarning BOOL
ILA BOOL
CSP BOOL
2-6
Data type Meaning
Idle
In-position Waiting
Home Defined
In Home Position
Command Velocity
Saturation
Command Direction
Positive Direction
Negative Direction
Servo Drive Status
Servo ON
Servo Ready
Main Power
Positive Limit Input
Negative Limit Input
Home Proximity Input TRUE when the home proximity input is ena-
Home Input
Immediate Stop Input
External Latch Input
1
External Latch Input
2
Drive Error Input
Drive Warning Input
Drive Internal Limit-
ing
Cyclic Synchronous
Position (CSP) Con-
trol Mode
TRUE when processing is not currently per-
formed for the command value, except when
waiting for in-position state.
Idle and InPosWaiting are mutually exclusive.
They cannot both be TRUE at the same time.
TRUE when waiting for in-position state.
The in-position check is performed when posi-
tioning for the in-position check.
TRUE when home is defined.
TRUE: Home defined
FALSE: Home not defined
TRUE when the axis is in the range for home.
It gives an AND of the following conditions.
•
Home defined
•
The actual current position is in the zero po-
sition range with home as the center.
TRUE also when the zero position is passed by
while the axis is moving in command status.
TRUE while the axis velocity is held to the max-
imum velocity during synchronized control.
*5
TRUE when there is a command in the positive
direction.
TRUE when there is a command in the nega-
tive direction.
*6
TRUE when the Servomotor is powered.
TRUE when the Servo is ready.
TRUE when the Servo Drive main power is ON.
TRUE when the positive limit input is enabled.
TRUE when the negative limit input is enabled.
bled.
TRUE when the home input is enabled.
TRUE when the immediate stop input is ena-
bled.
TRUE when latch input 1 is enabled.
TRUE when latch input 2 is enabled.
TRUE while there is a Servo Drive error.
TRUE while there is a Servo Drive warning.
TRUE when the Servo Drive limiting function
actually limits the axis.
TRUE when the Servo is ON at the Servo Drive
and the current mode is CSP Mode.
NY-series Motion Control Instructions Reference Manual (W561)
Function
*2
*3
*7
*8
*9