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6-21
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-6
S
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-de
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V
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6
6-6-3 T
ab
les of Syste
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-defined V
ar
iab
les f
or Motion Con
trol
Cmd
_sAXIS_REF_CMD
_DATA
Axis Command Values
Pos
LREAL
Command Current
Position
Contains the current value of the command posi-
tion. (Unit: command units)
When the Servo is OFF and the mode is not posi-
tion control mode, this variable contains the actual
current position.
Vel
LREAL
Command Current
Velocity
Contains the current value of the command veloc-
ity. (Unit: command units/s)
A plus sign is added during travel in the positive
direction, and a minus sign during travel 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.
AccDec
LREAL
Command Current
Acceleration/Decelera-
tion
Contains the current value of the command accel-
eration/deceleration rate. (Unit: command
units/s
2
)
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. The value
is 0 when the command acceleration/deceleration
rate of the instruction under execution is 0.
Jerk
LREAL
Command Current
Jerk
Contains the current value of the command jerk.
(command units/s
3
)
A plus sign is added when the absolute value of
acceleration/deceleration is increasing, and a
minus sign is added when it is decreasing. The
value is 0 when the command acceleration/decel-
eration rate and command jerk of the instruction
under execution is 0.
Trq
LREAL
Command Current
Torque
Contains the current value of the command
torque. (Unit: %)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction. Contains the same value as
the actual current torque except in torque control
mode.
Act
_sAXIS_REF_ACT_
DATA
Axis Current Value
Pos
LREAL
Actual Current Position Contains the actual current position. (Unit: com-
mand units)
Vel
LREAL
Actual Current Velocity
Contains the actual current velocity. (Unit: com-
mand units/s)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction.
Trq
LREAL
Actual Current Torque
Contains the current value of the actual torque.
(Unit: %)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction.
Variable name
Data type
Meaning
Function
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...