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6-27
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-6
S
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stem
-de
fined
V
ariab
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r Mo
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Co
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6
6-6-3 T
ab
les of Syste
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-defined V
ar
iab
les f
or Motion Con
trol
*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.
Cfg
_sGROUP_REF_CFG
Axes Group Basic
Settings
Gives the settings of the Axes Group Basic
Settings parameters.
GrpNo
UINT
Axes Group Number
Contains the logical number of the axes group.
This number is accessed to recognize the
axes group number when accessing
_sGROUP_REF.
GrpEnable
_eMC_GROUP_USE
Axes Group Use
Shows if the axes group is enabled or dis-
abled.
0: mcNoneGroup (Undefined Axes Group)
1: mcUnusedGroup (Unused Axes Group)
2: mcUsedGroup (Used Axes Group)
Kinematics
_sGROUP_REF_KIM
Kinematics
Transformation
Settings
Contains the definition of the kinematic con-
versions for the axes group.
GrpType
_eMC_TYPE
Composition
Gives the axis composition of multi-axes coor-
dinated control.
0: mcXY (two axes)
1: mcXYZ (three axes)
2: mcXYZU (four axes)
Axis[0]
UINT
Composition Axis for
Axis A0
Contains the axis number that is assigned to
axis A0.
Axis[1]
UINT
Composition Axis for
Axis A1
Contains the axis number that is assigned to
axis A1.
Axis[2]
UINT
Composition Axis for
Axis A2
Contains the axis number that is assigned to
axis A2.
Axis[3]
UINT
Composition Axis for
Axis A3
Contains the axis number that is assigned to
axis A3.
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...