Omron Sysmac NY-series User Manual

Name Meaning Data type Valid range
De-
fault
Description
Deceleration Decelera-
tion Rate
LREAL Non-negative number 0 Specify the deceleration rate.
The unit is command units/s
2
.
*4
Jerk
(Reserved)
Jerk LREAL 0 0 (Reserved)
BufferMode Buffer
Mode Se-
lection
_eMC_BUF
FER_MOD
E
0: _mcAborting
1: _mcBuf
fered
0
*2
Specify the behavior when executing
more than one motion instruction.
0: Aborting
1: Buffered
*1. To use _mcLatestCommand, the following condition must be met for the master and slave axes.
When you use this variable, 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.
*2. The default value for an enumeration variable is actually not the number, but the enumerator.
*3. The task period is the primary period.
*4. Refer to Unit Conversion Settings in the NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s
Manual (Cat. No. W559) for information on command units.
Output Variables
Name Meaning
Data
type
Valid
range
Description
InGear Gear Ratio
Achieved
BOOL TRUE or
F
ALSE
TRUE when the slave axis reaches the target velocity.
Busy Executing BOOL TRUE or
F
ALSE
TRUE when the instruction is acknowledged.
Active Controlling BOOL TRUE or
F
ALSE
TRUE when the axis is being controlled.
CommandAborted Command
Aborted
BOOL TRUE or
F
ALSE
TRUE when the instruction is aborted.
Error Error BOOL TRUE or
F
ALSE
TRUE while there is an error.
ErrorID Error Code WORD
*1
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
*1. The upper four digits of the event code give the error code for ErrorID. Refer to the NY
-series Troubleshooting Manual
(Cat. No. W564) for the event codes.

Output Variable Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
InGear When the following relationship is established.
• Accelerating: Velocity of slave axis ≥ Velocity
of master axis × Gear ratio
• Decelerating: Velocity of slave axis ≤ Velocity
of master axis × Gear ratio
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
Busy When Execute changes to TRUE.
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
Active When the instruction is started.
• When Error changes to TRUE.
• When CommandAborted changes to TRUE.
3 Axis Command Instructions
3-247
NY-series Motion Control Instructions Reference Manual (W561)
MC_GearIn
3
Variables

Omron Sysmac NY-series Specifications

General

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