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6 Motion Control Programming
6-22
NJ-series CPU Unit Motion Control User’s Manual (W507)
*1
This also includes states where processing is performed while in motion at velocity 0, during following error resets, during
synchronized control, and during coordinated motion.
*2
The Detailed Settings Display on the Axis Basic Settings Tab Page of the Sysmac Studio gives the signal that is set for
encoder Z-phase detection digital input. You may not be able to map a PDO to this signal for servo drives from other man-
ufacturers. Refer to the manual for the connected servo drive for details.
*3
This variable gives the status of bit 11 (internal limit enabled) in the Status Word (6041 hex) that is mapped to a PDO. The
conditions for this variable changing to TRUE depend on the specifications of the Servo Drive. Refer to the manual for the
connected servo drive for details.
*4
This variable gives the value of the Modes of Operation Display (6061 hex) that is mapped to a PDO. The conditions CSP,
CSV, and CST changing to TRUE depend on the specifications of the Servo Drive. Refer to the manual for the connected
servo drive for details.
Always FALSE if Modes of Operation (6061 hex) is not mapped in a PDO.
MFaultLvl
_sMC_REF_EVENT
Axis Minor Fault
Active
BOOL
Axis Minor Fault
Occurrence
TRUE while there is an axis minor fault.
Code
WORD
MC Common Minor
Fault Code
Contains the code for an axis minor fault.
The upper four digits of the event code have the
same value.
Obsr
_sMC_REF_EVENT
Axis Observation
Active
BOOL
Axis Observation
Occurrence
TRUE while there is an axis observation.
Code
WORD
Axis Observation
Code
Contains the code for an axis observation.
The upper four digits of the event code have the
same value.
Cfg
_sAXIS_REF_CFG
Axis Basic Settings
Gives the settings of the Axis Basic Settings
parameters.
AxNo
UINT
Axis Number
Contains the number of the axis.
AxEnable
_eMC_AXIS_USE
Axis Use
Shows if the axis is enabled or disabled.
0: mcNoneAxis (Undefined Axis)
1: mcUnusedAxis (Unused Axis)
2: mcUsedAxis (Used Axis)
AxType
_eMC_AXIS_TYPE
Axis Type
Contains the axis type. I/O wiring is not required
for variable axes.
0: mcServo (Servo axis)
1: mcEncdr (Encoder Axis)
2: mcVirServo (Virtual Servo Axis)
3: mcVirEncdr (Virtual Encoder Axis)
NodeAddress
UINT
Node Address
Contains the EtherCAT slave address. A value of
16#FFFF indicates that there is no address.
Scale
_sAXIS_REF_SCAL
E
Unit Conversion Set-
tings
Gives settings of the electronic gear ratio.
Num
UDINT
Command Pulse
Count Per Motor Rota-
tion
Contains the number of pulses per motor rotation
for command positions. The command value is
converted to the equivalent number of pulses
based on the electronic gear ratio.
Den
LREAL
Work Travel Distance
Per Motor Rotation
Contains the workpiece travel distance per motor
rotation for command positions.
Units
_eMC_UNITS
Unit of Display
Contains the display unit for command positions.
0: _mcPls (pulse)
1: _mcMm (mm)
2: _mcUm (
µ
m)
3: _mcNm (nm)
4: _mcDeg (degree)
5: _mcInch (inch)
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...