Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-72
NJ-series CPU Unit Motion Control User’s Manual (W507)
Set the parameters from the Sysmac Studio. You can use the MC_Write (Write MC Setting) instruc-
tion to change the in-position check time.
Additional Information
The value set from the Sysmac Studio is restored if power to the CPU Unit is cycled or the user
program is downloaded with the Synchronization menu command of the Sysmac Studio. Use the
MC_Write (Write MC Setting) instruction only when you need to temporarily change the in-posi-
tion check time.
z
Monitor Information That Is Related to In-position Checks
You can read Axis Variables from the user program to monitor when positioning finishes.
* This also includes states where processing is performed while in motion at velocity 0, during following error
counter resets, during synchronized control, and during coordinated motion.
You can read Axes Group Variables from the user program to monitor when positioning finishes for
the axes group.
*1 This also includes states where processing is performed while in motion at a velocity of 0.
*2 This variable is FALSE when all composition axes in the axes group are within the in-position ranges set in the
axis parameters.
For details on writing MC settings, refer to the MC_Write (Write MC Setting) instruction in the NJ-
series Motion Control Instructions Reference Manual (Cat. No. W508).
Variable name Data type Meaning Function
_MC_AX[0-63].Details.Idle BOOL Idle TRUE when processing is not currently
performed for the command value,
except when waiting for in-position
state.*
Idle and InPosWaiting are mutu-
ally exclusive. They cannot both be
TRUE at the same time.
_MC_AX[0-63].Details.InPosWaiting BOOL In-position
Waiting TRUE when waiting for in-position state.
The in-position check is performed when
positioning for the in-position check.
Variable name Data type Meaning Function
_MC_GRP[0-31].Details.Idle BOOL Standstill TRUE when processing is not currently
performed for the command value,
except when waiting for in-position
state.
*1
Idle and InPosWaiting are mutually
exclusive. They cannot both be TRUE at
the same time.
_MC_GRP[0-31].Details.InposWaiting BOOL In-position
Waiting TRUE when waiting for in-position state
for any composition axis.
*2
The in-position check is performed when
positioning for the in-position check.