*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.
Name Meaning Data type Valid
range Description
CommandAborted Instruction Aborted
BOOL TRUE or
FALSE
TRUE when an instruction could not be executed or when it was aborted during execution.
The instruction is not executed if there is an error with the target axis or axes group. Similarly, the in-struction is not executed while the target axis or axes group is decelerating to a stop.
The instruction is aborted when another instruction is executed, or if an error other than for this instruction occurs.
At this time, output variables Done, Active, and Error change to FALSE. If the instruction is aborted while the input variable Execute is FALSE,
CommandAborted will be TRUE for at least one peri-od.
If Execute or Enable is TRUE, CommandAborted re-mains TRUE until Execute or Enable changes to FLASE.
Error Error BOOL TRUE or
FALSE
TRUE when there is an error caused by a mistake in an input variable or instruction processing. *1
ErrorID Error Code WORD *2 Contains the error code when an error occurs.
16#0000 indicates normal operation.
Failure Failure End BOOL TRUE or
FALSE
TRUE when the instruction was not executed correct-ly.
Status Servo ON BOOL TRUE or
FALSE
TRUE when the device is ready for operation.
EndOfProfile End of Cam Cycle
BOOL TRUE or
FALSE
Changes to TRUE when the cam table end point is executed.
Index Index UINT
Non-nega-tive number
Contains the cam data index number.
StartSync Following BOOL TRUE or
FALSE
TRUE when acceleration/deceleration is started for synchronization and the device is ready for opera-tion.
RecordedPosition Latched Po-sition
LREAL Negative
number, positive number, or
0
Contains the latched position. *3
Invalid Excessive
Following Er-ror between Axes
BOOL TRUE or
FALSE
TRUE when the permitted following error between axes is exceeded.
DeviatedValue Following Er-ror between Axes
LREAL Negative
number, positive number, or
0
Contains the difference between the specified master and slave axes. *3
EndPointIndex End Point In-dex
UINT
Non-nega-tive number
Contains the cam table end point index.
MaxDataNumber Maximum Number of Cam Data
UINT Positive
number
Contains the maximum cam data number.
2-1 Variables
2
2-1-5 Output Variables for Motion Control Instructions
Name Meaning Data type Valid
range Description
InVelocity Target Veloc-ity Reached
BOOL TRUE or
FALSE
TRUE when the target velocity is reached.
InSync In Sync BOOL TRUE or
FALSE
TRUE when slave axis is synchronized to the master axis, or when the slave axis reaches the slave sync position.
InGear Gear Ratio
Achieved
BOOL TRUE or
FALSE
TRUE when the slave axis reaches the target veloci-ty.
InCombination Axes Com-bined
BOOL TRUE or
FALSE
TRUE when axes are combined.
InCam Cam Motion BOOL TRUE or
FALSE
TRUE when the cam table start point is executed.
InTorque Target
Tor-que Reached
BOOL TRUE or
FALSE
TRUE when the target torque is reached.
InFeed Feeding BOOL TRUE or
FALSE
TRUE while feeding after receiving a latch input.
InZone In Zone BOOL TRUE or
FALSE
TRUE when the axes position is within the zone range.
Valid*4 Enabled BOOL TRUE or
FALSE
TRUE when the axes group is being controlled.
CommandPosi-tion*4
Command Current Posi-tion
ARRAY [0..3]
OF LREAL
Negative number, positive number, or
0
Contains the current value of the command position.
*3
ActualPosition*4 Actual Cur-rent Position
ARRAY [0..3]
OF LREAL
Negative number, positive number, or
0
Contains the actual current position. *3
InPosition*4 In Position BOOL TRUE or
FALSE
TRUE when the actual current positions for all com-position axes are within the in-com-position range of their target positions.
InOperation*5 In Operation BOOL TRUE or
FALSE
TRUE when the operation for the instruction is in progress.
CalcPosition*5 Calculated Position
LREAL Negative
number, positive number, or
0
Contains the position for the specified time stamp. *3
ErrorParameter-Code*6
Parameter Detail Code
WORD *2 Contains the attached information for some error co-des.
If the information is saved, the detail code of the pa-rameter for which the error occurred is output.
ErrorNodePointIn-dex*6
Node Point Element Number
UINT *2 Contains the attached information for some error co-des.
If the information is saved, the element number of the node point for which the error occurred is output.
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.