Omron NJ501-1300, User Manual

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6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-6
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*1 This also includes states where processing is performed while in motion at a velocity of 0.
*2 This variable is FALSE when all composition axes in the axes group are within the in-position ranges set in the axis
parameters.
Cfg _sGROUP_REF_CFG Axes Group Basic
Settings Gives the settings of the Axes Group Basic
Settings parameters.
GrpNo UINT Axes Group Number Contains the logical number of the axes group.
This number is accessed to recognize the
axes group number when accessing
_sGROUP_REF.
GrpEnable _eMC_GROUP_USE Axes Group Use Shows if the axes group is enabled or dis-
abled.
0: mcNoneGroup (Undefined Axes Group)
1: mcUnusedGroup (Unused Axes Group)
2: mcUsedGroup (Used Axes Group)
Kinematics _sGROUP_REF_KIM Kinematics
Transformation
Settings Contains the definition of the kinematic con-
versions for the axes group.
GrpType _eMC_TYPE Composition Gives the axis composition of multi-axes coor-
dinated control.
0: mcXY (two axes)
1: mcXYZ (three axes)
2: mcXYZU (four axes)
Axis[0] UINT Composition Axis for
Axis A0 Contains the axis number that is assigned to
axis A0.
Axis[1] UINT Composition Axis for
Axis A1 Contains the axis number that is assigned to
axis A1.
Axis[2] UINT Composition Axis for
Axis A2 Contains the axis number that is assigned to
axis A2.
Axis[3] UINT Composition Axis for
Axis A3 Contains the axis number that is assigned to
axis A3.
Variable name Data type Meaning Function