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6 Motion Control Programming
6-24
NJ-series CPU Unit Motion Control User’s Manual (W507)
Cmd
_sAXIS_REF_CMD_DATA
Axis Command Values
Pos
LREAL
Command Current
Position
Enabled
Enabled
---
---
Vel
LREAL
Command Current
Velocity
Enabled
Enabled
---
---
AccDec
LREAL
Command Current
Acceleration/Decelera-
tion
Enabled
Enabled
---
---
Jerk
LREAL
Command Current
Jerk
Enabled
Enabled
---
---
Trq
LREAL
Command Current
Torque
Enabled
Enabled
---
---
Act
_sAXIS_REF_ACT_DATA
Axis Current Value
Pos
LREAL
Actual Current Position
Enabled
Enabled
Enabled
Enabled
Vel
LREAL
Actual Current Velocity
Enabled
Enabled
Enabled
Enabled
Trq
LREAL
Actual Current Torque
Enabled
Enabled
---
---
MFaultLvl
_sMC_REF_EVENT
Axis Minor Fault
Active
BOOL
Axis Minor Fault
Occurrence
Enabled
Enabled
Enabled
Enabled
Code
WORD
Axis Minor Fault Code
Enabled
Enabled
Enabled
Enabled
Obsr
_sMC_REF_EVENT
Axis Observation
Active
BOOL
Axis Observation
Occurrence
Enabled
Enabled
Enabled
Enabled
Code
WORD
Axis Observation
Code
Enabled
Enabled
Enabled
Enabled
Cfg
_sAXIS_REF_CFG
Axis Basic Settings
AxNo
UINT
Axis Number
Enabled
Enabled
Enabled
Enabled
AxEnable
_eMC_AXIS_USE
Axis Use
Enabled
Enabled
Enabled
Enabled
AxType
_eMC_AXIS_TYPE
Axis Type
Enabled
Enabled
Enabled
Enabled
NodeAddress
UINT
Node Address
Enabled
---
Enabled
---
Scale
_sAXIS_REF_SCALE
Electronic Gear Ratio
Num
UDINT
Command Pulse
Count per Motor Rota-
tion
Enabled
Enabled
Enabled
Enabled
Den
LREAL
Work Travel Distance
per Motor Rotation
Enabled
Enabled
Enabled
Enabled
Units
_eMC_UNITS
Unit of Display
Enabled
Enabled
Enabled
Enabled
Variable name
Data type
Meaning
Servo
axis
Virtual
servo
axis
Encoder
axis
Virtual
encoder
axis
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...