Additional Information
The MC_SetOverride (Set Override Factors) instruction is not effective for the MC_SyncMove-
V
elocity (Cyclic Synchronous Velocity Control) instruction.
Mapping Data Objects
To use the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction, map the following
object data in the Detailed Settings Area of the Axis Basic Settings Display of the Sysmac Studio.
•
Target velocity (60FF hex)
• Modes of operation (6060 hex)
• Modes of operation display (6061 hex)
If even one of the required objects is not set, a Process Data Object Setting Missing error (error code:
3461 hex) occurs.
For details on mapping data objects, refer to 2-3 PDO Mapping on page 2-37 and to the NY-series
Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (Cat. No. W559).
Instruction Details
This section describes the instruction in detail.
Velocity (Target Velocity)
The V
elocity (Target Velocity) input variable can be set to LREAL data in reference to 0.
The axis moves in the positive direction for a positive value and in the negative direction for a negative
value.
If 0 is set, the command velocity is 0 and Status.Continuous (Continuous Motion) remains TRUE.
You can set Velocity (Target Velocity) from the user program every period.
If the specified target velocity is different from the last period, the new target velocity is used. If the
specified target velocity is the same as the last period, the previous target velocity is used.
Precautions for Correct Use
• When you set the target velocity, make sure that an excessive load is not placed on the me-
chanical composition of the system for the change in velocity
.
• If the axis that you use in this instruction is the master axis for synchronized control, setting
the target velocity of the master axis may cause the slave axis to move suddenly.
• When the Control Mode is changed, the command current position may change suddenly.
Command Current Position
If you select _mcCount for the CmdPosMode
(Command Current Position Count Selection) input vari-
able, the command current position will be the actual current position from the previous period when
this instruction is executed. The actual current position is used until the instruction is ended.
While the OMRON 1S-series Servo Drive or G5-series Servo Drive is processing the switch to CSP
Mode, the CSP reference position that was mapped in advance is sent in the PDO. Until processing to
switch from CSV to CSP Mode is completed, this reference position is used as the command current
position. When switching to CSP Mode is completed, the command current position is set to the com-
mand position.
3 Axis Command Instructions
3-394
NY-series Motion Control Instructions Reference Manual (W561)
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