Omron Sysmac NY-series Instruction & Reference Manual page 677

Parameter
8 Positive Software Limit
9 Negative Software Limit
10 In-position Check Time
11 In-position Range
12 Start Velocity
*1. This parameter is enabled only for torque control.
*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.
Output Variables
Name Meaning
Done Done
Busy Executing
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
Done When the instruction is completed.
Busy When Execute changes to TRUE.
CommandAborted When this instruction is canceled due to an error
in another instruction.
Error When there is an error in the execution condi-
tions or input parameters for the instruction.
NY-series Motion Control Instructions Reference Manual (W561)
Data type
LREAL Negative number, positive
LREAL Negative number, positive
UINT
LREAL Non-negative number
LREAL Non-negative number
Data Valid
type range
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
BOOL TRUE or
FALSE
WORD
*1
Timing for changing to TRUE
5 Common Command Instructions
Valid range
The unit is command units.
number, or 0
The unit is command units.
number, or 0
0 to 10000 The unit is milliseconds.
The unit is command units.
The unit is command units/s.
Description
TRUE when the instruction is completed.
TRUE when the instruction is acknowledged.
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 Execute is TRUE and changes to
FALSE.
•
After one period when Execute is FALSE.
•
When Done changes to TRUE.
•
When Error changes to TRUE.
•
When CommandAborted changes to TRUE.
•
When Execute is TRUE and changes to
FALSE.
•
After one period when Execute is FALSE.
When the error is cleared.
Comments
*2
*2
*2
*2
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