6 Motion Control Programming
6-28
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Cmd _sAXIS_REF_CM-
D_DATA
Axis Command Values
Pos LREAL Command Current
Position
Contains the current value of the command posi-
tion. (Unit: command units)
When the Servo is OFF and the mode is not posi-
tion control mode, this variable contains the actual
current position.
*9
Vel LREAL Command Current
Velocity
Contains the current value of the command veloc-
ity. (Unit: command units/s)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction. The velocity is calculated from
the difference with the command current position.
When the Servo is OFF and the mode is not the
position control mode, the velocity is calculated
based on the actual current position.
AccDec LREAL Command Current
Acceleration/Decelera-
tion
Contains the current value of the command accel-
eration/deceleration rate. (Unit: command
units/s
2
)
The acceleration/deceleration rate is calculated
from the difference with the command current
velocity. A plus sign is added for acceleration, and
a minus sign is added for deceleration. The value
is 0 when the command acceleration/deceleration
rate of the instruction under execution is 0.
Jerk LREAL Command Current
Jerk
Contains the current value of the command jerk.
(command units/s
3
)
A plus sign is added when the absolute value of
acceleration/deceleration is increasing, and a
minus sign is added when it is decreasing. The
value is 0 when the command acceleration/decel-
eration rate and command jerk of the instruction
under execution is 0.
Trq LREAL Command Current
Tor q u e
Contains the current value of the command
torque. (Unit: %)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction. Contains the same value as
the actual current torque except in torque control
mode.
*10
Act _sAX-
IS_REF_ACT_-
DATA
Axis Current Value
Pos LREAL Actual Current Posi-
tion
Contains the actual current position. (Unit: com-
mand units)
*9
Vel LREAL Actual Current Velocity Contains the actual current velocity. (Unit: com-
mand units/s)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction.
Trq LREAL Actual Current Torque Contains the current value of the actual torque.
(Unit: %)
A plus sign is added during travel in the positive
direction, and a minus sign during travel in the
negative direction.
TimeStamp
*11
ULINT Time Stamp Contains the time when the current position of the
axis was updated. This variable is valid for an axis
for which time stamping is operating. (Unit: ns)
Variable name Data type Meaning Function
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