Axis Variables - Omron NY532-1500 Reference Manual

2 Variables and Instructions

Axis Variables

The variable names of the system-defined Axis Variables are _MC_AX[0..63]. The data type is _sAX-
IS_REF, which is a structure.
Name
_MC_AX[0..63]
Status
Ready
Disabled
Standstill
Discrete
Continuous
Synchronized
Homing
Stopping
ErrorStop
Coordinated
2-4
Data type
_sAXIS_REF Axis Variable
_sAXIS_REF_STA Axis Status
BOOL Axis Ready-to-execute
BOOL Axis Disabled
BOOL Standstill
BOOL Discrete Motion
BOOL Continuous Motion
BOOL Synchronized Motion
BOOL Homing
BOOL Deceleration Stopping
BOOL Error Deceleration Stopping
BOOL Coordinated Motion
Meaning
TRUE when preparations for axis execution are
finished and the axis is stopped. This variable
gives the same status as _MC_AX[*].Sta-
tus.Standstill (TRUE: standstill).
TRUE while the Servo is OFF for the axis. This
includes the following status.
The following axis status are mutually exclusive.
Only one of them can be TRUE at a time.
Disabled, Standstill, Discrete, Continuous, Syn-
chronized, Homing, Stopping, ErrorStop, or
Coordinated
TRUE while the Servo is ON for the axis.
TRUE while position control is executed toward
the target position.
This includes when the velocity is 0 because the
override factor was set to 0 during a discrete
motion.
TRUE during continuous motion without a target
position.
This state exists during velocity control and
torque control.
This includes when the velocity is 0 because the
target velocity is set to 0 and when the velocity is
0 due to an override factor set to 0 during contin-
uous motion.
TRUE during execution of synchronized control.
This includes waiting for synchronization after
changing to synchronized control instructions.
TRUE when homing for the MC_Home or
MC_HomeWithParameter instruction.
TRUE until the axis stops for a MC_Stop or
MC_TouchProbe instruction. This includes when
Execute is TRUE after the axis stops for an
MC_Stop instruction. Axis motion instructions
are not executed while decelerating to a stop.
(CommandAborted is TRUE.)
This status exists when the axis is stopping or
stopped for execution of the MC_ImdediateStop
instruction or a minor fault (while
_MC_AX[*].MFaultLvl.Active is TRUE (Axis
Minor Fault Occurrence).
Axis motion instructions are not executed in this
state (CommandAborted is TRUE).
TRUE when an axes group is enabled by a multi-
axes coordinated control instruction.
NY-series Motion Control Instructions Reference Manual (W561)
Function