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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
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...