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6 Motion Control Programming
6-20
NJ-series CPU Unit Motion Control User’s Manual (W507)
Details
_sAXIS_REF_DET
Axis Control Status
Gives the control status of the command.
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.
InPosWaiting
BOOL
In-position Waiting
TRUE when waiting for in-position state. The in-
position check performed when positioning for the
in-position check.
Homed
BOOL
Home Defined
TRUE when home is defined.
FALSE: Home not defined.
TRUE: Home is defined
InHome
BOOL
In Home Position
TRUE when the axis is in the range for home. It
gives an AND of the following conditions.
•
Home defined
•
The actual current position is in the zero posi-
tion range with home as the center.
TRUE also when the zero position is passed by
while the axis is moving in command status.
VelLimit
BOOL
Command Velocity
Saturation
TRUE while the command velocity is limited to the
maximum velocity during synchronized control.
Dir
_sAXIS_REF_DIR
Command Direction
Gives the command travel direction.
Posi
BOOL
Positive Direction
TRUE when there is a command in the positive
direction.
Nega
BOOL
Negative Direction
TRUE when there is a command in the negative
direction.
DrvStatus
_sAXIS_REF_STA_
DRV
Drive Status
Gives the status of the Servo Drive.
ServoOn
BOOL
Servo ON
TRUE when the Servomotor is powered.
Ready
BOOL
Servo Ready
TRUE when the Servo is ready.
MainPower
BOOL
Main Power
TRUE when the Servo Drive main power is ON.
P_OT
BOOL
Positive Limit Input
TRUE when the positive limit input is enabled.
N_OT
BOOL
Negative Limit Input
TRUE when the negative limit input is enabled.
HomeSw
BOOL
Home Proximity Input
TRUE when the home proximity input is enabled.
Home
BOOL
Home Input
TRUE when the home input is enabled.
*2
ImdStop
BOOL
Immediate Stop Input
TRUE when the immediate stop input is enabled.
Latch1
BOOL
External Latch Input 1
TRUE when latch input 1 is enabled.
Latch2
BOOL
External Latch Input 2
TRUE when latch input 2 is enabled.
DrvAlarm
BOOL
Drive Error Input
TRUE while there is a Servo Drive error.
DrvWarning
BOOL
Drive Warning Input
TRUE while there is a Servo Drive warning.
ILA
BOOL
Drive Internal Limiting
TRUE when the Servo Drive limiting function actu-
ally limits the axis. This corresponds to one of the
following limits in the G5-series Servo Drive.
*3
Torque limits, velocity limit, drive prohibit inputs,
software limits
CSP
BOOL
Cyclic Synchronous
Position (CSP)
Control Mode
TRUE when the Servo is ON at the Servo Drive
and the current mode is CSP Mode.*
4
CSV
BOOL
Cyclic Synchronous
Velocity (CSV)
Control Mode
TRUE when the Servo is ON at the Servo Drive
and the current mode is CSV Mode.*
3
CST
BOOL
Cyclic Synchronous
Torque (CST)
Control Mode
TRUE when the Servo is ON at the Servo Drive
and the current mode is CST Mode.*
3
Variable name
Data type
Meaning
Function
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...