Omron NJ501-1300, User Manual

Page: 148 / 432

6 Motion Control Programming
6-26
NJ-series CPU Unit Motion Control User’s Manual (W507)
Cmd _sGROUP_REF_CMD_
DATA Axes Group Command
Values
Vel LREAL Command
Interpolation Velocity Contains the current value of the command
interpolation velocity. The interpolation veloc-
ity is calculated from the difference with the
interpolation command current position. A
plus sign is added during travel in the positive
direction, and a minus sign is added during
travel in the negative direction. The value is 0
when the axes group is disabled.
AccDec LREAL Command
Interpolation
Acceleration/
Deceleration Contains the current value of the command
interpolation acceleration/deceleration. The
interpolation acceleration/deceleration rate is
calculated from the difference with the com-
mand interpolation velocity. A plus sign is
added for acceleration, and a minus sign is
added for deceleration. The value is 0 when
the axes group is disabled, or when the com-
mand acceleration/deceleration rate of the
current axes group motion instruction is 0.
MFaultLvl _sMC_REF_EVENT Axes Group Minor
Fault
Active BOOL Axes Group Minor
Fault Occurrence TRUE while there is an axes group minor fault.
Code WORD Axes Group Minor
Fault Code Contains the error code for an axes group
minor fault.
The upper four digits of the event code have
the same value.
Obsr _sMC_REF_EVENT Axes Group Observa-
tion
Active BOOL Axes Group Observa-
tion Occurrence TRUE while there is an axes group observa-
tion.
Code WORD Axes Group Observa-
tion Code Contains the observation code for an axes
group minor fault.
The upper four digits of the event code have
the same value.
Variable name Data type Meaning Function