Omron Sysmac NY-series User Manual

Precautions for Correct Use
Here, the task period is the primary period. The periodic task is the primary periodic task.
Additional Information
The command position that is calculated in the same task period enables greater precision in
synchronization than the command position that was calculated in the previous task period.
However
, the axis number set for the Master (Master Axis) in the system-defined variable for
motion control must be lower than the axis number set for the Slave (Slave Axis) in the system-
defined variable for motion control.

Relationship between Axis Types and Position Types
The relationship between the axis types that you can monitor and position types that is monitored is
shown below
.
Axis Type
ReferenceType
_mcCommand or _mcLatestCommand _mcFeedback
Servo axis OK OK
Encoder axis
No
*1
OK
Virtual servo axis OK OK
Virtual encoder
axis
No
*1
OK
*1. A Position Type Selection Out of Range error (error code: 5430 hex) occurs when the instruction is execut-
ed.

Direction
You can start cam operation for the slave axis only if the travel direction of the master axis matches
the setting in Direction.
Direction
is valid only while InSync is TRUE.
_mcNoDirection (No Direction Specified)
Cam operation starts regardless of whether the master axis is traveling in the positive or negative di-
rection.
Time
Time
Sla
ve
position
Master
position
_mcPositiveDirection
Cam operation starts when the master axis is moving in the positive direction.
3 Axis Command Instructions
3-190
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English