This ENUM data is used by input variables to motion control instructions.
An enumeration input variable is not actually set to the number, but to the enumerator.
2-1 Variables
2
2-1-4 Input Variables for Motion Control Instructions
Data type Valid range Description
Corresponding instruc-tion variable
(Meaning)
_eMC_BUF-FER_MODE
0: _mcAborting 1: _mcBuffered 2: _mcBlendingLow 3: _mcBlendingPrevious 4: _mcBlendingNext 5: _mcBlendingHigh
Specifies the operation for multi-exe-cution of motion control instructions.
0: Aborting 1: Buffered 2: Blending low 3: Blending previous 4: Blending next 5: Blending high
BufferMode
(Buffer Mode Selection)
_eMC_CIRC_MOD E
0: _mcBorder 1: _mcCenter 2: _mcRadius
Specifies the method for circular in-terpolation.
0: Border point 1: Center 2: Radius
CircMode
(Circular Interpolation Mode)
_eMC_CAM_TRAN SITION
0: _mcCTNone Specifies the slave axis command value output method when the cam is restarted.
0: No limit or correction
CamTransition
(Cam Transition Selec-tion)
_eMC_CIRC_PAT HCHOICE
0: _mcCW 1: _mcCCW
Specifies the path direction.
0: CW 1: CCW
PathChoice (Path Choice)
_eMC_COM-BINE_MODE
0: _mcAddAxes 1: _mcSubAxes
Specifies the combining method.
0: Addition 1: Subtraction
CombineMode (Combine Mode)
_eMC_CO-ORD_SYSTEM
0: _mcACS Specifies the coordinate system.
0: Axis coordinate system (ACS)
CoordSystem (Coordinate System) _eMC_DIRECTION 0: _mcPositiveDirection
1: _mcShortestWay 2: _mcNegativeDirection 3: _mcCurrentDirection 4: _mcNoDirection
Specifies the direction of motion.
0: Positive direction 1: Shortest way 2: Negative direction 3: Current direction 4: No direction specified
Direction
_eMC_EXECU-TION_MODE
0: _mcImmediately (Reserved) ExecutionMode
(Execution Mode)
_eMC_LINKOP-TION
0: _mcCommandExecution 1: _mcTriggerDetection 2: _mcMasterReach
Specifies the condition for the slave axis to synchronize with the master axis.
0: Start of instruction 1: When trigger is detected
2: When the master axis reaches the master following distance
LinkOption
(Synchronization Start Condition)
_eMC_MOVE_MO DE
0: _mcAbsolute 1: _mcRelative 2: _mcVelocity
Selects the travel method.
0: Absolute positioning 1: Relative positioning 2: Velocity control
MoveMode (Travel Mode)
_eMC _OUT_MODE
0: _mcStop Specifies the mode to disable the
synchronized control instruction.
0: Deceleration stop
OutMode
(Sync End Mode Selec-tion)
(Reserved)
Data type Valid range Description
Corresponding instruc-tion variable
(Meaning)
_eMC_PARAME-TER_NUMBER
0: _mcChkVel 1: _mcChkAcc 2: _mcChkDec 3: _mcPosiChkTrq*1 4: _mcNegaChkTrq*1 5: _mcFELmt 6: _mcChkFELmt 7: _mcSwLmtMode 8: _mcPosiSwLmt 9: _mcNegaSwLmt 10: _mcInPosTime 11: _mcInPosRange*2 12: _mcStartVel*3
Specifies the parameter to write.
0: Velocity Warning Value/Interpola-tion Velocity Warning Value
1: Acceleration Warning Value/Inter-polation Acceleration Warning Value 2: Deceleration Warning Value/Inter-polation Deceleration Warning Value 3: Positive Torque Warning Value 4: Negative Torque Warning Value 5: Following Error Over Value 6: Following Error Warning Value 7: Software Limits
8: Positive Software Limit 9: Negative Software Limit 10: In-position Check Time 11: In-position Range 12: Start Velocity
ParameterNumber (Parameter Number)
_eMC_SWLMT_M ODE
0: _mcNonSwLmt
1: _mcCmdDecelerationStop 2: _mcCmdImmediateStop 3: _mcActDecelerationStop 4: _mcActImmediateStop
Enables and disables the software limits and specifies the Stop Mode.
0: Disable software limits
1: Deceleration stopping enabled for command position
2: Enable software limits and perform immediate stop for command position 3: Enable software limits and decel-erate to stop for actual position 4: Enable software limits and perform immediate stop for actual position
SettingValue (Setting Value)
_eMC_REFER-ENCE_TYPE*4
0: _mcCommand 1: _mcFeedback 2: _mcLatestCommand
Specifies the position type.
0: Command position (value calculat-ed in the previous task period*5) 1: Actual position (value obtained in the same task period*5)
2: Command position (value calculat-ed in the same task period*5)
ReferenceType
(Position Type Selection) ReferenceTypeMaster (Master Axis Position Type Selection) ReferenceTypeAuxiliary (Auxiliary Axis Position Type Selection) _eMC_START_MO
DE
0: _mcAbsolutePosition 1: _mcRelativePosition
Specifies the coordinate system used by MasterStartDistance (master fol-lowing distance).
0: Absolute position 1: Relative position
StartMode (Start Mode)
_eMC_STOP_MO DE
0: _mcDeccelerationStop 1: _mcImmediateStop
2: _mcImmediateStopFEReset 3: _mcFreeRunStop
4: _mcNonStop
Specifies the stopping method.
0: Deceleration stop
1: Perform an immediate stop 2: Perform an immediate stop and re-set the following error counter 3: Turn OFF the Servo 4: Do not stop
StopMode
(Stopping Mode Selec-tion)
2-1 Variables
2
2-1-4 Input Variables for Motion Control Instructions
Data type Valid range Description
Corresponding instruc-tion variable
(Meaning)
_eMC_TRIG-GER_LATCH_ID
0: _mcLatch1 1: _mcLatch2
Specifies which of the two latch func-tions to use.
0: Latch 1 1: Latch 2
LatchID
_eMC_CMDPOS_
MODE
0: _mcCount 0: Use the actual current position and update the command current posi-tion.
Home remains defined.
CmdPosMode
(Command Current Posi-tion Count SelecPosi-tion)
_eMC_TRANSI-TION_MODE
0: _mcTMNone
10: _mcTMCornerSuperimposed
Specifies the path of motion.
0: Transition disabled 10: Superimpose corners
TransitionMode (Transition Mode)
_eMC_TRIG-GER_MODE
0: _mcDrive 1: _mcController
Specifies the trigger mode.
0: Drive Mode 1: Controller Mode
Mode
_eMC_TRIG- GER_IN-PUT_DRIVE
0: _mcEncoderMark 1: _mcEXT
Specifies the trigger signal in Drive Mode.
0: Z-phase signal 1: External input
InputDrive
(Trigger Input Signal)
_eMC_HOM-ING_MODE*6
0: _mcHomeSwTurnHomeSwOff 1: _mcHomeSwTurnHomeSwOn 4: _mcHomeSwOff
5: _mcHomeSwOn 8: _mcLimitInputOff
9: _mcHomeSwTurnHomeMask 11: _mcLimitInputOnly
12: _mcHomeSwTurnHolding-Time
13: _mcNoHomeSwHoldingHo-meInput
14: _mcHomePreset
Specify the new setting of the Homing Method.
0: Proximity reverse turn/home prox-imity input OFF
1: Proximity reverse turn/home prox-imity input ON
4: Home proximity input OFF 5: Home proximity input ON 8: Limit input OFF
9: Proximity reverse turn/home input mask distance
11: Limit inputs only
12: Proximity reverse turn/holding time
13: No home proximity input/holding home input
14: Zero position preset
--- _eMC_HOME_IN-PUT*6
0: _mcZPhase 1: _mcExternalSignal
Select the input to use for the home input signal.
0: Use Z-phase input as home.
1: Use external home input.
--- _eMC_LIMIT_RE-VERSE_MODE*6
0: _mcErrorStop
1: _mcRevImmediateStop 2: _mcRevDecelerationStop
Sets the stopping method when the limit input turns ON during homing.
0: No reverse turn/minor fault stop (Stop according to Limit Input Stop Method parameter.)
1: Reverse turn/immediate stop 2: Reverse turn/deceleration stop
---Data type Valid range Description
Corresponding instruc-tion variable
(Meaning) _eMC_CAM_CUR
VE*7
0: _mcConstantLine 1: _mcStraightLine 2: _mcParabolic
3: _mcModifiedConstantVel 4: _mcModifiedTrapezoid 5: _mcModifiedSine 6: _mcCycloidal 7: _mcTrapecloid 8: _mcReverseTrapecloid 9: _mcSimpleHarmonic 10: _mcDoubleHarmonic 11: _mcReverseDoubleHarmonic 12: _mcNC2Curve
13: _mcPolynomic3 14: _mcPolynomic5
Specifies the shape of the cam curve to the node point.
0: Constant 1: Straight line 2: Parabolic
3: Modified constant velocity 4: Modified trapezoid 5: Modified sine 6: Cycloidal 7: Trapecloid 8: Reverse trapecloid 9: Simple harmonic 10: Double harmonic 11: Reverse double harmonic 12: NC2 curve
13: Polynomic 3 14: Polynomic 5
Curve
(Curve Shape)
_eMC_ACCDE-COVER*7
0: _mcAccDecOverBuffer 1: _mcAccDecOverRapid 2: _mcAccDecOverErrorStop
Sets the operation for when the maxi-mum acceleration/deceleration rate would be exceeded after excessive acceleration/deceleration during ac-celeration/deceleration control of the axis because stopping at the target position is given priority.
0: Use rapid acceleration/decelera-tion. (Blending is changed to Buf-fered.) *8
1: Use rapid acceleration/decelera-tion.
2: Minor fault stop *9
--- _eMC_RE-VERSE_MODE*7
0: _mcReverseModeDecelera-tionStop
1: _mcReverseModeImmediate-Stop
Specifies the operation for reversing rotation for multi-execution of instruc-tions, re-execution of instrucinstruc-tions, and interrupt feeding.
0: Deceleration stop 1: Immediate stop
---_eMC_COUNT_M ODE*7
0: _mcCountModeLinear 1: _mcCountModeRotary
Sets the count mode for the position.
0: Linear Mode (finite length) 1: Rotary Mode (infinite length)
---_eMC_UNITS*7 0: _mcPls 1: _mcMm 2: _mcUm 3: _mcNm 4: _mcDeg 5: _mcInch
Sets the unit for command positions.
0: pulse 1: mm 2: μm 3: nm 4: degree 5: inch
--- _eMC_CAM_MON-ITOR_MODE *10
0: _mcCalcCamDistanceDiff Specifies information on the cam op-eration to be monitored.
0: Displacement following error cal-culation
---*1. This parameter is enabled only for torque control.
2-1 Variables
2
2-1-4 Input Variables for Motion Control Instructions
*2. A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to use this setting.
*3. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this setting.
*4. To use _mcLatestCommand, the following condition must be met for the master and slave axes.
When you use mcLatestCommand, the axis number set for the master axis in the system-defined variable for motion control must be lower than the axis number set for the slave axis in the system-defined variable for motion control.
*5. The task period is the primary period if the task is the primary periodic task and the task period of the priority-5 periodic task if the task is the priority-5 periodic task.
*6. A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use this variable.
*7. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use this variable.
*8. For a CPU Unit with unit version 1.10 or later, blending is not changed to Buffered. For details, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).
*9. For a CPU Unit with unit version 1.10 or later, the axis does not stop with an error and operation continues if blending operation is used. For details, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).
*10. If you use an NX102 CPU Unit, the CPU Unit with unit version 1.32 or later and Sysmac Studio version 1.28 or higher are required to use this variable.
If you use an NX1P2 CPU Unit or NJ-series CPU Unit, the CPU Unit with unit version 1.21 or later and Sysmac Studio version 1.28 or higher are required to use this variable.