Omron NJ501-1300, Руководство пользователя

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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