Omron NY532-1500 User Manual page 151

Axis Variables
_MC_AX[0-63] are the Axis Variables in the system-defined variables. The data type is _sAXIS_REF,
which is a structure variable.
Variable name
_MC_AX[0-63] _sAXIS_REF
Status _sAXIS_REF_STA
Ready BOOL
Disabled BOOL
Standstill BOOL
Discrete BOOL
Continuous BOOL
Synchronized BOOL
Homing BOOL
Stopping BOOL
ErrorStop BOOL
Coordinated BOOL
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Data type Meaning
Axis Variable
Axis Status
Axis Ready-to-execute TRUE when preparations for axis execution are
Axis Disabled
Standstill
Discrete Motion
Continuous Motion
Synchronized Motion
Homing
Deceleration Stopping
Error Deceleration
Stopping
Coordinated Motion
6 Motion Control Programming
Function
finished and the axis is stopped.
This variable indicates the same status as when
_MC_AX[*].Status.Standstill is TRUE (stopped).
TRUE while the Servo is OFF for the axis.
The following axis states are mutually exclusive.
Only one can be TRUE at the same time.
Disabled, Standstill, Discrete, Continuous, Syn-
chronized, Homing, Stopping, ErrorStop, or Coor-
dinated
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 or 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 continu-
ous 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_ImmdediateStop
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.
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