Omron Sysmac NY-series

Name Meaning Data type Valid range
De-
fault
Description
FirstPosition First Posi-
tion
LREAL Negative number, positive
number
, or 0
0 Specify the position where latch-
ing is enabled.
The unit is command units.
*1
LastPosition Last Posi-
tion
LREAL Negative number, positive
number
, or 0
0 Specify the position where latch-
ing is disabled.
The unit is command units.
*1
Reference-
T
ype
Position
Type Se-
lection
_eMC_REFER-
ENCE_TYPE
1: _mcFeedback
1
*2
Specify the position type.
1: Actual position (value ob-
tained in the same task period
*3
)
Position Target Po-
sition
LREAL Negative number, positive
number
, or 0
0 If MoveMode is set to 0:
Absolute positioning, specify
the absolute target positions on
the absolute coordinate.
If MoveMode is set to 1:
Relative positioning, specify
the travel distance.
If MoveMode is set to 2:
Velocity control, specification is
not necessary.
The unit is command units.
*1
Velocity Target Ve-
locity
LREAL
Positive number
*4
0 Specify the target velocity.
The unit is command units/s.
*1
Acceleration Accelera-
tion Rate
LREAL Non-negative number 0 Specify the acceleration rate.
The unit is command units/s
2
.
*1
Deceleration Decelera-
tion Rate
LREAL Non-negative number 0 Specify the deceleration rate.
The unit is command units/s
2
.
*1
Jerk Jerk LREAL Non-negative number 0 Specify the jerk.
The unit is command units/s
3
.
*1
Direction Direction _eMC_DIREC-
TION
0: _mcPositiveDirection
1: _mcShortestW
ay
2: _mcNegativeDirection
3: _mcCurrentDirection
4: _mcNoDirection
0
*2
Specify the direction of rotation
when MoveMode is set to 0:
Absolute positioning
*5
and
when the Count Mode is Rotary
Mode.
0: Positive direction
1: Shortest way
2: Negative direction
3: Current direction
4: No direction specified
MoveMode Travel
Mode
_eMC_MOVE_
MODE
0: _mcAbsolute
1: _mcRelative
2: _mcV
elocity
0
*2
Select the travel method.
0: Absolute positioning
1: Relative positioning
2:Velocity control
3 Axis Command Instructions
3-112
NY-series Motion Control Instructions Reference Manual (W561)