Omron Sysmac NY-series Instruction & Reference Manual page 55

Name
CSV BOOL
CST BOOL
Cmd _sAXIS_REF_CMD_
DATA
Pos LREAL
Vel LREAL
AccDec LREAL
Jerk LREAL
Trq LREAL
Act _sAXIS_REF_ACT_
DATA
Pos LREAL
NY-series Motion Control Instructions Reference Manual (W561)
Data type Meaning
Cyclic Synchronous
Velocity (CSV) Con-
trol Mode
Cyclic Synchronous
Torque (CST) Control
Mode
Axis Command Value
Command Current
Position
Command Current
Velocity
Command Current
Acceleration/Deceler-
ation
Command Current
Jerk
Command Current
Torque
Axis Current Value
Actual Current Posi-
tion
2 Variables and Instructions
Function
TRUE when the Servo is ON at the Servo Drive
and the current mode is CSV Mode.
TRUE when the Servo is ON at the Servo Drive
and the current mode is CST Mode.
Contains the current value of the command po-
sition. (Unit: command units)
When the Servo is OFF and the mode is not
position control mode, this variable contains the
*10
actual current position.
Contains the current value of the command ve-
locity. (Unit: command units/s)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling
in the negative direction.
The velocity is calculated from the difference
with the command current position. When the
Servo is OFF and the mode is not the position
control mode, the velocity is calculated based
on the actual current position.
Contains the current value of the command ac-
celeration/deceleration rate. (Unit: command
2
units/s )
The acceleration/deceleration rate is calculated
from the difference with the command current
velocity. A plus sign is added for acceleration,
and a minus sign is added for deceleration.
Zero when the command acceleration/deceler-
ation rate of the instruction under execution is
0.
Contains the current value of the command
3
jerk. (Unit: command units/s
A plus sign is added when the absolute value of
acceleration/deceleration is increasing, and a
minus sign is added when it is decreasing.
Zero when the command acceleration/deceler-
ation rate and command jerk of the instruction
under execution is 0.
Contains the current value of the command tor-
que. (Unit: %)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling
in the negative direction.
Contains the same value as the actual current
torque except in torque control mode.
Contains the actual current position. (Unit: com-
*10
mand units)
*9
*9
2
)
2-7