Name Meaning Data type Valid
range Description
OutputtedOffset-Position *7
Position Off-set Output Value
LREAL Negative
number, positive number, or
0
Contains the position offset that was added to the command current position.
The value is updated when Active is TRUE.
Updating is stopped and the value is retained when CommandAborted or Error is TRUE.
*1. Error is not reset to FALSE until you execute one of the following instructions: MC_Reset, MC_GroupReset, or Re-setMCError.
This behavior is different from the PLCopen® specifications. With PLCopen® specifications, it changes to FALSE when Execute changes to FALSE.
When Error is TRUE, the motion control instruction is not executed. Instructions are not executed after an error is cleared even if Execute is TRUE. The value of this variable must change from FALSE to TRUE to execute the instruc-tion. Enable-type motion control instructions are executed whenever their Enable variable is TRUE.
*2. The upper four digits of the event code give the error code for ErrorID. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the event codes.
*3. This unit is command units. The command unit is millimeters, micrometers, nanometers, degrees, inches, or pulses.
*4. A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to use this variable.
*5. A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use this variable.
*6. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use this variable.
*7. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
Additional Information
To enable accessing output variables for motion control instructions even after the operating mode is changed, assign variables that have output parameters with a retain attribute.
By accessing the assigned output parameter, you can access the output variable immediately
before the operating mode changed.
Name Meaning Data type Valid range Description
Axes*3 Axes Group
Composition Ax-es
ARRAY [0..3] OF UINT
--- Specify the axis numbers of the new composi-tion axes.
HomingParame-ter*4
Homing Param-eter
_sHOMING_REF --- Sets the homing parameter.
Switches*5 Switches ARRAY [0..255]
OF _sCAMS-WITCH_REF
--- Specifies an array variable of _sCAMS-WITCH_REF switch structures for use as switch ON/OFF pattern data.
The array element numbers indicate the switch numbers.
Outputs*5 Output Signals ARRAY [0..15] OF _sOUTPUT_REF
--- Specifies an array variable of _sOUTPUT_REF output signal structures for use as the output destinations for digital ON/OFF time outputs that are calculated based on switch ON/OFF pattern data. The array element numbers indi-cate the track numbers.
You can specify this array variable as an in-out variable for a NX_AryDOutTimeStamp instruc-tion to actually turn ON and OFF digital outputs.
TrackOptions*5 Track Options ARRAY [0..15] OF _sTRACK_REF
--- Specifies an array variable of _sTRACK_REF track option structures for use as switch operat-ing conditions. The array element numbers indi-cate the track numbers.
CamProperty*6 Cam Properties _sMC_CAM_PRO PERTY
--- Specifies a variable of _sMC_CAM_PROPER-TY cam property structures.
A user-defined variable with a data type of _sMC_CAM_PROPERTY or a cam property variable created on the Cam Editor of the Sys-mac Studio is specified.
CamNodes*6 Cam Nodes ARRAY [0..N] OF _sMC_CAM_NOD E
--- Specifies an array variable of
_sMC_CAM_NODE cam node structures.
A user-defined variable with a data type of _sMC_CAM_NODE or a cam node variable created on the Cam Editor of the Sysmac Stu-dio is specified.*7
AxisParameter*6 Axis Parameters _sAXIS_PARAM --- When writing, specifies the axis parameters to write.
When reading, specifies the variable with a da-ta type of _sAXIS_PARAM to which to write the axis parameters that are read.
CamMonitorValue
*8
Cam Monitor Values
_sMC_CAM_MO NITOR_DISTAN-CEDIFF
--- Outputs information on the cam operation. *9
*1. N in the array variable is set automatically by the Sysmac Studio. Specify a cam data variable that was created on the Sysmac Studio.
*2. For details on the data types of variables, refer to Parameter Number Data Types and Valid Ranges on page 5-14.
*3. A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to use this variable.
*4. A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use this variable.
*5. A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use this variable.
*6. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use this variable.
*7. If you use a user-defined variable, create an array variable with a starting element number of 0 and a maximum of 358
*8. 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.
*9. Information on the cam operation to be monitored is specified by CamMonitorMode (Cam Monitor Mode Selection).
2-1 Variables
2
2-1-6 In-Out Variables for Motion Control Instructions