Omron NY532-1500 User Manual page 158

6 Motion Control Programming
Axes Group Variables
_MC_GRP[0-31] are the system-defined Axes Group Variables. The data type is _sGROUP_REF,
which is a structure variable.
Also, in the descriptions of functions, _MC_AX[*] is used as an example.
Variable name
_MC_GRP[0-31] _sGROUP_REF
Status _sGROUP_REF_STA
Ready BOOL
Disabled BOOL
Standby BOOL
Moving BOOL
Stopping BOOL
ErrorStop BOOL
Details _sGROUP_REF_DET
Idle BOOL
InPosWaiting BOOL
6-30
Data type Meaning
Axes Group Variable
Axes Group Status
Ready to Execute
Axes Group Disabled
Standby
Moving
Deceleration Stopping
Error Deceleration
Stopping
Axes Group Control
Status
Idle
In-position Waiting
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Function
TRUE when the axes group is stopped and is
ready to execute. The condition for being
ready to execute is an AND of the following
conditions.
• Execution of the MC_Stop instruction is not
in progress for any composition axis.
• _MC_GRP[*].Status.Standby is TRUE
(stopped).
• The Servo is ON for the composition axes.
• _MC_AX[*].Details.Homed is TRUE (home
is defined) for the composition axes.
TRUE when the axes group is disabled and
stopped. The following axes group status are
mutually exclusive. Only one of them can be
TRUE at a time.
Disabled, Standby, Moving, Stopping, or Error-
Stop
TRUE when the axes group motion instruction
is stopped. (This is independent of the Servo
ON/OFF status of the composition axes in the
axes group)
TRUE while an axes group motion instruction
is executed toward the target position.
This includes in-position waiting status and
when the velocity is 0 for an override.
TRUE until the axes group stops for an
MC_GroupStop instruction. This includes
when Execute is TRUE after the axes stop for
an MC_GroupStop instruction. Axes group
motion instructions are not executed in this
state. (CommandAborted is TRUE.)
TRUE while the axes group is stopping or
stopped for the MC_GroupImmediateStop
instruction or for an axes group minor fault
(when _MC_GRP[*].MFaultLvl.Active is
TRUE). Axes group motion instructions are
not executed in this state. (CommandAborted
is TRUE.)
Gives the control status of the instruction.
TRUE when processing is not currently per-
formed for the command value, except when
*1
waiting for in-position state.
Idle and InPosWaiting are mutually exclusive.
They cannot both be TRUE at the same time.
TRUE when waiting for in-position state for
any composition axis.
TRUE during positioning operations during the
*2
in-position check.