Download NJ-series Motion Control Instructions Reference

3 Axis Command Instructions
Name
Direction
Meaning
Direction
Data type
Valid range
_eMC_DIRECTION
0: _mcPositiveDirection
1: _mcShortestWay
2: _mcNegativeDirection
3: _mcCurrentDirection
4: _mcNoDirection
Default
0*3
Description
Specify the direction of rotation when MoveMode is set
to absolute positioning*4 and
when the Count Mode is
Rotary Mode.
0: Positive direction
1: Shortest way
2: Negative direction
3: Current direction
4: No direction specified
Travel Mode
_eMC_BUFFER
_ MODE
_eMC_MOVE_
MODE
0: _mcAborting
1: _mcBuffered
2: _mcBlendingLow
3: _mcBlendingPrevious
4: _mcBlendingNext
5: _mcBlendingHigh
0*3
0: _mcAbsolute
1: _mcRelative
0*3
Specifies the operation when
executing more than one
motion instruction.
0: Aborting
1: Buffered
2: Blend with low
3: Blend with previous
4: Blend with next
5: Blend with high
3
Select the travel method.
0: Absolute positioning
1: Relative positioning
*1 Refer to Unit Conversion Settings in the NJ-series CPU Unit Motion Control User's Manual (Cat. No. W507) for information on command units.
*2 Always set the target velocity. A Target Velocity Setting Out of Range error (error code: 5422 hex) occurs when the
instruction is executed if the target velocity is not set.
*3 The default value for an enumeration variable is actually not the number, but the enumerator.
*4 When MoveMode is set to relative positioning, the travel direction is determined by the sign of the position.
Output Variables
Name
Meaning
Data type
Valid range
Description
Done
Done
BOOL
TRUE or FALSE
TRUE when the instruction is completed.
Busy
Executing
BOOL
TRUE or FALSE
TRUE when the instruction is acknowledged.
Active
Controlling
BOOL
TRUE or FALSE
TRUE when the axis is being controlled.
CommandAborted
Command
Aborted
BOOL
TRUE or FALSE
TRUE when the instruction is aborted.
Error
Error
BOOL
TRUE or FALSE
TRUE while there is an error.
ErrorID
Error Code
WORD
*
Contains the error code when an error occurs.
A value of 16#0000 indicates normal execution.
* Refer to A-1 Error Codes.
NJ-series Motion Control Instructions Reference Manual (W508)
3-37
Variables
MoveMode
Buffer Mode
Selection
MC_Move
BufferMode