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6-23
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-6
S
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Relationship between Axis Variables and Axis Types
Axis Variables are enabled or disabled according to the axis type. Disabled members are FALSE or
0.
The following table shows which members are enabled for each axis type.
Variable name
Data type
Meaning
Servo
axis
Virtual
servo
axis
Encoder
axis
Virtual
encoder
axis
_MC_AX[0-63]
_sAXIS_REF
Axis Variable
Status
_sAXIS_REF_STA
Axis Status
Ready
BOOL
Axis Ready-to-execute
Enabled
Enabled
---
---
Disabled
BOOL
Axis Disabled
Enabled
Enabled
Enabled
Enabled
Standstill
BOOL
Standstill
Enabled
Enabled
---
---
Discrete
BOOL
Discrete Motion
Enabled
Enabled
---
---
Continuous
BOOL
Continuous Motion
Enabled
Enabled
---
---
Synchronized
BOOL
Synchronized Motion
Enabled
Enabled
---
---
Homing
BOOL
Homing
Enabled
Enabled
---
---
Stopping
BOOL
Deceleration Stopping
Enabled
Enabled
---
---
ErrorStop
BOOL
Error Deceleration
Stopping
Enabled
Enabled
---
---
Coordinated
BOOL
Coordinated Motion
Enabled
Enabled
---
---
Details
_sAXIS_REF_DET
Axis Control Status
Idle
BOOL
Standstill
Enabled
Enabled
Enabled
Enabled
InPosWaiting
BOOL
In-position Waiting
Enabled
Enabled
---
---
Homed
BOOL
Home Defined
Enabled
Enabled
---
---
InHome
BOOL
In Home Position
Enabled
Enabled
---
---
VelLimit
BOOL
Command Velocity
Saturation
Enabled
Enabled
---
---
Dir
_sAXIS_REF_DIR
Command Direction
Posi
BOOL
Positive Direction
Enabled
Enabled
---
---
Nega
BOOL
Negative Direction
Enabled
Enabled
---
---
DrvStatus
_sAXIS_REF_STA_DRV
Drive Status
ServoOn
BOOL
Servo ON
Enabled
---
---
---
Ready
BOOL
Servo Ready
Enabled
---
---
---
MainPower
BOOL
Main Power
Enabled
---
---
---
P_OT
BOOL
Positive Limit Input
Enabled
---
---
---
N_OT
BOOL
Negative Limit Input
Enabled
---
---
---
HomeSw
BOOL
Home Proximity Input
Enabled
---
---
---
Home
BOOL
Home Input
Enabled
---
---
---
ImdStop
BOOL
Immediate Stop Input
Enabled
---
---
---
Latch1
BOOL
External Latch Input 1
Enabled
---
---
---
Latch2
BOOL
External Latch Input 2
Enabled
---
---
---
DrvAlarm
BOOL
Drive Error Input
Enabled
---
---
---
DrvWarning
BOOL
Drive Warning Input
Enabled
---
---
---
ILA
BOOL
Drive Internal Limiting
Enabled
---
---
---
CSP
BOOL
Cyclic Synchronous
Position (CSP) Con-
trol Mode
Enabled
---
---
---
CSV
BOOL
Cyclic Synchronous
Velocity (CSV) Control
Mode
Enabled
---
---
---
CST
BOOL
Cyclic Synchronous
Torque (CST) Control
Mode
Enabled
---
---
---
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...