７ - ２ Structures Registered in IAG Object of NA The same structures as that of FB for NJ are registered. (The data types conform to NA) 40 Variable name Data type Name Function IAG Device Info _ _ STRUCT Structures for connected device information. Axis MonitorNo _ UShort Monitor axis No. An axis number of the device to be monitored. Connect NodeNo _ String(199) Connected node No. A node number of the connected device. Device Name _ String(199) Connected device name A name of the connected device. Device Count _ Device Count UShort UShort Number of connected The number of the connected devices. The number of the connected devices.
devices Axis Tbl AxisNo _ _ UShort(255) Information of connected A variable for storing the valid axis number. axis No. Axis Tbl NodeNo _ _ UShort(255) Information of node No. in A variable for storing the valid node number. order of connected axis Select NodeNo _ String(199) Servo-recognized node No. A node number of the connected servo. First Chk _ First Chk Boolean Boolean Flag for checking the A Flag for checking the after-startup connection status. A Flag for checking the after-startup connection status. after-startup connection status Variable name Data type Name Function IAG Param REF _ _ STRUCT Structures for status of jog feed.
Velocity Double Target speed The target speed during the operation of servomotor. Acceleration Double Acceleration The acceleration during the operation of servomotor. Deceleration Double Deceleration The deceleration during the operation of servomotor. Jerk Double Jerk The jerk during the operation and deceleration stop of servomotor. Position Double Target position The target position for decelerating and stopping the servomotor. Distance Double Moving distance The distance for moving the servomotor. Execute Boolean Operation start request An operation start request for the servomotor. Posi Nega _ Boolean Operation direction( The direction of rotating the servomotor.
The direction of rotating the servomotor. False = Posi / True = Nega) ServoStop Boolean Servo stop request A stop request for the servomotor. ServoOn Boolean Servo ON request A request for turning ON the servomotor. Function Flg _ UShort Function flag( A selection flag for MC Test Run function to be executed. A selection flag for MC Test Run function to be executed. 1=Jog , 2=Absolute , 2=Relative , 4=Homing , ) Stop Error _ Boolean Stop error An error flag when executing the stop processing. Abs Error _ Boolean Absolute positioning error An error flag when performing the absolute positioning.
Rel Error _ Boolean Relative positioning error An error flag when performing the relative positioning. Home1 Error _ Boolean Home position 1 error An error flag when homing with external signal. Home2 Error _ Boolean Home position 2 error An error flag when homing. Stop ErrorID _ UShort Stop error code An error code when executing the stop processing. Abs ErrorID _ UShort Absolute positioning error An error code when performing the absolute positioning. An error code when performing the absolute positioning. code Rel ErrorID _ UShort Relative positioning error An error code when performing the relative positioning.
code Home1 ErrorID _ UShort Homing 1 error code An error code when homing with external signal. Home2 ErrorID _ UShort Homing 2 error code An error code when homing.