Omron Sysmac NY-series Instruction & Reference Manual page 729

Name
Continuous
Synchron-
ized
Homing
Stopping
ErrorStop
Coordinated
Variables in an Axes Group Variable That Give the Axes Group Sta-
tus
The following five variables in an Axes Group variable give the status of the axes group. These varia-
bles are mutually exclusive. Only one of them can be TRUE at any one time.
Name
_MC_GRP[0-31]
Status
Disabled
Standby
Moving
NY-series Motion Control Instructions Reference Manual (W561)
Data type Meaning
BOOL Continuous
Motion
BOOL Synchron-
ized Motion
BOOL Homing
BOOL Deceleration
Stopping
BOOL Error Decel-
eration Stop-
ping
BOOL Coordinated
Motion
Data type Meaning
_sGROUP_REF Axes Group
Variable
_sGROUP_REF_ST Axes Group
A Status
BOOL Axes Group
Disabled
BOOL Standby
BOOL Moving
Function
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 continuous
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 in this
state (CommandAborted = TRUE).
TRUE while the axis is stopping or stopped for the
MC_ImmediateStop instruction or for an axis minor
fault (when _MC_AX[*].MFaultLvl.Active is TRUE).
Axis motion instructions are not executed in this
state (CommandAborted = TRUE).
TRUE when an axes group is enabled by a multi-
axes coordinated control instruction.
Function
TRUE when the axes group is disabled and stop-
ped.
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.
Appendices
A
A-3