Omron NJ501-1300, Руководство пользователя

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6-17
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-6
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6-6-2 System f
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Derivative Data Types
Refer to the NJ-series CPU Unit Software User's Manual (Cat. No. W501) for details on the other
data types that are used by an NJ-series Controller.
The attributes that are shown in the following table are the same for all system-defined variables for
motion control.
* Variables are published on the network with the variable names of the system-defined variables. The variable
names that are created when the axes or axes groups are created on the Sysmac Studio are not published to the
network.
System-defined variables for motion control consist of information representing the status of the MC
Function Module, status information for slave devices connected via EtherCAT communications, and
the portion of the MC parameter settings used to perform motion control.
You can access system-defined variables for motion control as variables in the user program and
monitor them from the Sysmac Studio.
System-defined variables for motion control are updated every primary period.
Type Description
Enumerated data types This data type uses one item from a prepared name list as
its value. Variables with this data type start with “_e.”
Structure data type This data type consists of multiple data types placed
together into a single layered structure. Variables with this
data type start with “_s.”
Attributes of System-defined Variables for Motion Control
Attribute Attribute of system-defined variables for motion control
Global/Local Global variable
R/W access Read only
Retain Non-retain
Network Publish Publish*
6-6-2 System for System-defined Variables for Motion Control
CPU Unit
Sysmac Studio
ID211
0
1
3
2
4
5
7
6
8
9
11
10
12
13
14
15
DC24V
7mA
COM
MACH
No.
AD042
RUN
ERC
ERH
B1
A1
x101
x100
0
9 8 7
6
5
4 3 2
1
0
9
8
7 6
5
4 3 2
1
0 1 2 3 4 5 6 7
8 9 10 11 12 13 14 15
Monitor display
MC Common Variable
Axis Variables
Axes Group Variables
Accessed.
Servo Drive
Main memory
MC Function
Module processing
Data movement instructions
User program
Status
EtherCAT
communi-
cations
System-defined
variables for
motion control