ax-Name Data type Meaning Function
Axis[2] UINT Axis Selection for Axis
A2
Gives the axis number that is assigned to ax-is A2.
Axis[3] UINT Axis Selection for Axis
A3
Gives the axis number that is assigned to ax-is A3.
*1. Gives the control status of the command.
*2. This also includes states where processing is performed while in motion at a velocity of 0.
*3. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
*4. Gives the definition of the kinematic conversions for the axes group.
Name Meaning Data type Valid range
De-fault Description
PositiveEna-ble
Positive Di-rection Enable
BOOL TRUE or FALSE FALS
E
•
MC_MoveJog Instruction When this variable changes to TRUE, the axis starts moving in the positive direction. When it changes to FALSE, the axis stops moving. The Velocity,Acceleration, and Deceleration in-put variables to the MC_MoveJog instruction are read when
PositiveEnable changes to TRUE.
•
MC_SetTorqueLimit Instruction When this variable changes to TRUE, the positive torque limit is enabled. When it changes to FALSE, the positive torque limit is disabled.NegativeEn-able
Negative Di-rection Enable
BOOL TRUE or FALSE FALS
E
•
MC_MoveJog Instruction When this variable changes to TRUE, the axis starts moving in the negative direction. When it changes to FALSE, the axis stops moving. The Velocity,Acceleration, and Deceleration in-put variables to the MC_MoveJog instruction are read when NegativeEnable changes to TRUE.
•
MC_SetTorqueLimit Instruction When this variable changes to TRUE, the negative torque limit is enabled. When it changes to FALSE, the negative torque limit is disabled.BufferMode Buffer Mode Selection
_eMC_BUF-FER_MODE
0: _mcAborting 1: _mcBuffered 2: _mcBlendingLow 3: _mcBlendingPrevious 4: _mcBlendingNext 5: _mcBlendingHigh
0*1 Specifies the operation when exe-cuting more than one motion instruc-tion.
0: Aborting 1: Buffered 2: Blending low 3: Blending previous 4: Blending next 5: Blending high Velocity Target
Veloci-ty
LREAL Positive number*2 0 Specifies the target velocity. *3
Acceleration Acceleration Rate
LREAL Non-negative number 0 Specifies the acceleration rate. *4
Deceleration Deceleration Rate
LREAL Non-negative number 0 Specifies the deceleration rate. *4
Jerk Jerk LREAL Non-negative number 0 Specifies the jerk. *5
Name Meaning Data type Valid range
De-fault Description
Distance Travel Dis-tance
LREAL Negative number, posi-tive number, or 0
0 Specifies the travel distance from the command current position.
ARRAY [0..3]
OF LREAL
Negative number, posi-tive number, or 0
0 Specifies the target position for line-ar interpolation. *6
Position Target Posi-tion
LREAL Negative number, posi-tive number, or 0
0 Specifies the absolute target posi-tion. *6
ARRAY [0..3]
OF LREAL
Negative number, posi-tive number, or 0
0 Specifies the target position for line-ar interpolation. *6
VelFactor Velocity Over-ride Factor
LREAL 0 to 500 100 Specifies the velocity override factor.
The valid range of the override fac-tors is between 0.01 and 500.00.
Values above 500.00 are treated as 500 and values less then 0.01 (in-cluding negative values) are treated as 0.01.
The override factor will be 0 only when 0 is specified.
The unit is %.
AccFactor (Reserved)
Acceleration/
Deceleration Override Fac-tor
LREAL 0 to 500 100 (Reserved)
JerkFactor (Reserved)
Jerk Override Factor
LREAL 0 to 500 100 (Reserved)
Reference-Type*7
Position Type Selection
_eMC_REF-ERENCE_TY PE
0: _mcCommand 1: _mcFeedback 2: _mcLatestCommand
0*1 Specifies the master axis input infor-mation.
0: Command position (value calcu-lated in the previous task period*8) 1: Actual position (value obtained in the same task period*8)
2: Command position (value calcu-lated in the same task period*8)
FeedDis-tance
Feed Dis-tance
LREAL Negative number, posi-tive number, or 0
0 Specifies the travel distance after the interrupt feed input.
FeedVelocity Feed Velocity LREAL Positive number 0 Specifies the travel target velocity af-ter the inaf-terrupt feed input.
ErrorDetect Error Detec-tion SelecDetec-tion
BOOL TRUE or FALSE FALS
E
Specifies whether to detect an error when there is no interrupt feed input.
TRUE: Detect errors.
FALSE: Do not detect errors.
Periodic Periodic Mode BOOL TRUE or FALSE FALS
E
Specifies whether to execute the specified cam table periodically or only once.
TRUE: Periodic FALSE: Non-periodic StartMode Start Mode _eMC_START
_MODE
0: _mcAbsolutePosition
1: _mcRelativePosition 0*1 Specifies the coordinates used by MasterStartDistance (master follow-ing distance).
0: Absolute position 1: Relative position
2-1 Variables
2
2-1-4 Input Variables for Motion Control Instructions
Name Meaning Data type Valid range
De-fault Description
StartPosition Cam Table Start Position
LREAL Negative number, posi-tive number, or 0
0 Specifies the starting point of the cam table (0 phase) as an absolute position of the master axis.
MasterStart Distance
Master Fol-lowing Dis-tance
LREAL Negative number, posi-tive number, or 0
0 Specifies the position of the master axis when the following axis starts the cam motion.
If you specify Absolute Positioning for StartMode, specify the absolute position of the master axis. If you specify Relative Positioning, speci-fy the relative position of the master axis from StartPosition (Cam Table Start Position).
MasterScal-ing
Master Coeffi-cient
LREAL Positive value (> 0.0) 1.0 The master axis phase is extended or contracted using the specified scale.
SlaveScaling Slave Axis Coefficient
LREAL Positive value (> 0.0) 1.0 The slave axis displacement is ex-tended or contracted using the specified scale.
MasterOffset Master Offset LREAL Negative number, posi-tive number, or 0
0 The phase of the master axis is shift-ed using the specifishift-ed offset value.
SlaveOffset Slave Offset LREAL Negative number, posi-tive number, or 0
0 The displacement of the slave axis is shifted using the specified offset val-ue.
CamTransi-tion (Reserved)
Cam Transi-tion SelecTransi-tion
_eMC_CAM_
TRANSITION
0: _mcCTNone 0*1 (Reserved)
OutMode (Reserved)
Sync End Mode Selec-tion
_eMC_OUT_
MODE
0: _mcStop 0*1 (Reserved)
CamMonitor-Mode *9
Cam Monitor Mode Selec-tion
_eMC_CAM_
MONI-TOR_MODE
0:
_mcCalcCamDistance-Diff 0 *1 Specifies information on the cam op-eration to be monitored.
0: Displacement following error cal-culation
Direction Direction _eMC_DI-RECTION
0: _mcPositiveDirection 1: _mcShortestWay 2: _mcNegativeDirection 3: _mcCurrentDirection 4: _mcNoDirection
4/0 *1 Specifies the travel direction.
0: Positive direction 1: Shortest way 2: Negative direction 3: Current direction 4: No direction specified Continuous
(Reserved)
Continuation Mode Selec-tion
BOOL TRUE or FALSE FALS
E
(Reserved)
RatioNumer-ator
Gear Ratio
Numerator DINT*10 Positive or negative num-ber*10
10,00 0
Specifies the electronic gear ratio numerator between the master and slave axes.
RatioDeno-minator
Gear Ratio
Denominator UDINT*11 Positive number 10,00 0
Specifies the electronic gear ratio denominator between the master and slave axes.
MasterSync Master Sync LREAL Negative number, posi- 0 Specifies the absolute master sync
Name Meaning Data type Valid range
De-fault Description
SlaveSync-Position
Slave Sync Position
LREAL Negative number, posi-tive number, or 0
0 Specifies the absolute slave sync position.
SlaveDis-tance
Slave Axis Travel Dis-tance
LREAL Negative number, posi-tive number, or 0
0 Specifies the travel distance for the slave axis.
MasterDis-tance
Master Axis Travel Dis-tance
LREAL Non-negative number 0 Specifies the travel distance of the master axis.
MasterDis-tanceInACC
Master Dis-tance in Ac-celeration
LREAL Non-negative number 0 Specifies the travel distance of the master axis while the slave axis is accelerating.
MasterDis-tanceInDEC
Master Dis-tance in De-celeration
LREAL Non-negative number 0 Specifies the travel distance of the master axis while the slave axis is decelerating.
LinkOption Synchroniza-tion Start Condition
_eMC_LINK-OPTION
0: _mcCommandExecu-tion
1: _mcTriggerDetection 2: _mcMasterReach
0*1 Specifies the condition for the slave axis to synchronize with the master axis.
0: When instruction execution starts 1: When trigger is detected
2: When the master axis reaches the master following distance.
Combine-Mode
Combine Mode
_eMC_COM-BINE_MODE
0: _mcAddAxes
1: _mcSubAxes 0*1 Specifies the combining method.
0: Addition 1: Subtraction
RatioNumer-atorMaster (Reserved)
Master Axis Gear Ratio Numerator
DINT*10 Positive or negative num-ber*10
10,00 0
Specifies the electronic gear ratio numerator between the master and slave axes.
RatioDeno- minatorMas-ter
(Reserved)
Master Axis Gear Ratio Denominator
UDINT*11 Positive number 10,00
0
Specifies the denominator of the electronic gear ratio between the master and slave axes.
RatioNumer-atorAuxiliary (Reserved)
Auxiliary Axis Gear Ratio Numerator
DINT*10 Positive or negative num-ber*10
10,00 0
Specifies the numerator of the elec-tronic gear ratio between the auxili-ary and slave axes.
RatioDeno- minatorAux-iliary (Reserved)
Auxiliary Axis Gear Ratio Denominator
UDINT*11 Positive number 10,00
0
Specifies the denominator of the electronic gear ratio between the auxiliary and slave axes.
Reference-TypeMaster
Master Axis Position Type
_eMC_REF-ERENCE_TY PE
1: _mcFeedback
2: _mcLatestCommand 2*1 Specifies the position type of the master axis.
1: Actual position (value obtained in the same task period*8)
2: Command position (value calcu-lated in the same task period*8)
Reference- TypeAuxili-ary
Auxiliary Axis Position Type
_eMC_REF-ERENCE_TY PE
1: _mcFeedback
2: _mcLatestCommand 2*1 Specifies the position type of the auxiliary axis.
1: Actual position (value obtained in the same task period*8)
2: Command position (value calcu-lated in the same task period*8)
2-1 Variables
2
2-1-4 Input Variables for Motion Control Instructions
Name Meaning Data type Valid range
De-fault Description
PhaseShift Phase Shift Amount
LREAL Negative number, posi-tive number, or 0
0 Specifies the master phase shift amount. *6
Torque Target Torque LREAL 0 to 1000.0 300.0 Specify the target torque to output to the Servo Drive in increments of 0.1%.
The target torque is specified as a percentage of the rated torque. The unit is %.
TorqueRamp Torque Ramp LREAL Non-negative number 0 Specifies the rate of change in the torque from the current value to the target torque.
The unit is %/s.
PositiveVal-ue
Positive Tor-que Limit
LREAL 0.1 to 1000.0 or 0.0 300.0 Specifies the torque limit in the posi-tive direction in increments of 0.1%.
If a value that exceeds the Maximum Positive Torque Limit axis parameter, the positive torque will be the Maximum Positive Torque Limit.
The value will be 0 if 0 or a negative value is specified.
NegativeVal-ue
Negative Tor-que Limit
LREAL 0.1 to 1000.0 or 0.0 300.0 Specifies the torque limit in the neg-ative direction in increments of 0.1%.
If a value that exceeds the Maximum Negative Torque Limit axis parameter, the negative torque will be the Maximum Negative Torque Limit.
The value will be 0 if 0 or a negative value is specified.
WindowOnly Window Only BOOL TRUE or FALSE FALS
E
Specify whether to enable or disable the window mask.
FirstPosition First Position LREAL Negative number, posi-tive number, or 0
0 Specify the first position.
LastPosition Last Position LREAL Negative number, posi-tive number, or 0
0 Specify the last position.
StopMode Stopping Mode Selec-tion
_eMC_STOP _MODE
1: _mcImmediateStop 2: _mcImmediateStop-FEReset
3: _mcFreeRunStop 4: _mcNonStop
4*1 Specifies the stopping method.
1: Perform an immediate stop 2: Perform an immediate stop and reset the following error counter 3: Perform an immediate stop and turn OFF the Servo
4: Do not stop Relative
(Reserved)
Relative Posi-tion SelecPosi-tion
BOOL TRUE or FALSE FALS
E
(Reserved)
Execution-Mode (Reserved)
Execution Mode
_eMC_EXE-
CU-TION_MODE
0: _mcImmediately 0*1 (Reserved)
Permitted-Deviation
Permitted Fol-lowing Error
LREAL Non-negative number 0 Specifies the permitted maximum value for the following error between
Name Meaning Data type Valid range
De-fault Description
CmdPos-Mode
Command Current Posi-tion Count Se-lection
_eMC_CMDP OS_MODE
0: _mcCount 0*1 0: Use the actual current position and update the command current position.
Home remains defined.
CoordSys-tem
Coordinate System
_eMC_CO- ORD_SYS-TEM
0: _mcACS 0*1 Specifies the coordinate system.
0: Axis coordinate system (ACS)
Transition-Mode
Transition Mode
_eMC_TRAN-
SI-TION_MODE
0: _mcTMNone
10: _mcTMCornerSuper-imposed
0*1 Specifies the path of motion.
0: Transition disabled 10: Superimpose corners MoveMode Travel Mode _eMC_MOVE
_MODE
0: _mcAbsolute
1: _mcRelative 0*1 Selects the travel method.
0: Absolute positioning 1: Relative positioning CircAxes Circular Axes ARRAY [0,1]
OF UINT
0 to 3 0 Specifies the axes for circular inter-polation.
0: Axis A0 1: Axis A1 2: Axis A2 3: Axis A3 CircMode Circular
Inter-polation Mode
_eMC_CIRC_
MODE
0: _mcBorder 1: _mcCenter 2: _mcRadius
0*1 Specifies the method for circular in-terpolation.
0: Border point 1: Center 2: Radius AuxPoint Auxiliary Point ARRAY [0,1]
OF LREAL
Negative number, posi-tive number, or 0
0 Specifies the border point, center, or radius.
EndPoint End Point ARRAY [0,1]
OF LREAL
Negative number, posi-tive number, or 0
0 Specifies the target position.
PathChoice Path Choice _eMC_CIRC_
PATHCHOICE
0: _mcCW 1: _mcCCW
0*1 Specifies the path direction.
0: CW 1: CCW
Parameter-Number
Parameter Number
_eMC_PA- RAME- TER_NUM-BER
0: _mcChkVel 1: _mcChkAcc 2: _mcChkDec 3: _mcPosiChkTrq*12 4: _mcNegaChkTrq*12 5: _mcFELmt
6: _mcChkFELmt 7: _mcSwLmtMode 8: _mcPosiSwLmt 9: _mcNegaSwLmt 10:_mcInPosTime 11:_mcInPosRange*13 12:_mcStartVel*14
0*1 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
2-1 Variables
2
2-1-4 Input Variables for Motion Control Instructions
Name Meaning Data type Valid range
De-fault Description
Homi-ngMode*15
Homing Meth-od
_eMC_HOM-ING_MODE
0: _mcHomeSwTurnHo-meSwOff
1: _mcHomeSwTurnHo-meSwOn
4: _mcHomeSwOff 5: _mcHomeSwOn 8: _mcLimitInputOff 9: _mcHomeSwTurnHo-meMask
11: _mcLimitInputOnly 12: _mcHomeSwTurn-HoldingTime
13: _mcNoHomeSwHol-dingHomeInput
14: _mcHomePreset
0*1 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 AxisUse*16 Axis Use
_eMC_AX-IS_USE
1: _mcUnusedAxis
2: _mcUsedAxis 1*1 Specifies a used axis or an unused axis.
1: Unused axis 2: Used axis
Enable-Mask*17
Enable Tracks WORD 16#0000 to FFFF 0 Specifies whether to enable or disa-ble each track. There are a maxi-mum of 16 tracks. Specify enable or disable for track 0 with bit 0 and track 15 with bit 15.
0: Disabled, 1: Enable ValueSource
(Reserved)
Input Informa-tion
_sMC_SOUR CE
--- --- (Reserved)
Time-Stamp*17
Time Stamp ULINT Non-negative number 0 Specifies the time stamp for which to calculate the position.
A time stamp that is based on the time in a Digital Input Unit, Encoder Input Unit, or OMRON 1S-series Servo Drive with built-in EtherCAT communications that supports time stamp refreshing is specified. The unit is nanoseconds.
ExecID*18 Execution ID UINT 2 2 Specifies the ID of the task with
which the variable is synchronized.
2: Priority-5 periodic task
OffsetPosi-tion*14
Position Off-set
LREAL Negative number, posi-tive number, or 0
0 Specifies the position offset to add to the command current position. *6
*1. The default value for an enumeration variable is actually not the number, but the enumerator.
*2. You can use instructions, such as the MC_MoveJog or MC_MoveVelocity instruction, to set the velocity to 0.
*3. The unit is command units/s. The command unit is millimeters, micrometers, nanometers, degrees, inches, or pulses.
*4. The unit is command units/s2.
*5. The unit is command units/s3.
*6. This unit is command units.
*7. To use _mcLatestCommand, the following condition must be met for the master and slave axes.
*8. 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.
*9. 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.
*10. A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are required to use this data type.
For any previous version combinations, the data type is UINT and the valid range is positive numbers.
*11. A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are required to use this data type.
For any previous version combinations, the data type is UINT.
*12. This parameter is enabled only for torque control.
*13. A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required to use this variable.
*14. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
*15. A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use this variable.
*16. A CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required to use this variable.
*17. A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use this variable.
*18. NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units do not have this input variable.