![background image](http://html1.mh-extra.com/html/omron/nj501-1300/nj501-1300_user-manual_742205141.webp)
6-19
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-6
S
y
stem
-de
fined
V
ariab
les f
o
r Mo
tio
n
Co
ntr
o
l
6
6-6-3 T
ab
les of Syste
m
-defined V
ar
iab
les f
or Motion Con
trol
_MC_AX[0]
to
_MC_AX[63]
are the Axis Variables in the system-defined variables. The data type is
_sAXIS_REF, which is a structure variable. This section describes the configuration of the Axis Vari-
ables and provides details on the members.
Axis Variables
Variable name
Data type
Meaning
Function
_MC_AX[0-63]
_sAXIS_REF
Axis Variable
Status
_sAXIS_REF_STA
Axis Status
Ready
BOOL
Axis Ready-to-execute
TRUE when preparations for axis execution are
finished and the axis is stopped.
This variable indicates the same status as when
_MC_AX[XX].Status.Standstill
is TRUE (stopped).
Disabled
BOOL
Axis Disabled
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
Standstill
BOOL
Stopped
TRUE while the Servo is OFF for the axis.
Discrete
BOOL
Discrete Motion
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 dur-
ing a discrete motion.
Continuous
BOOL
Continuous 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.
Synchronized
BOOL
Synchronized Motion
TRUE during execution of synchronized control.
This includes waiting for synchronization after
changing to synchronized control instructions.
Homing
BOOL
Homing
TRUE when homing for the MC_Home instruction.
Stopping
BOOL
Deceleration Stopping
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.)
ErrorStop
BOOL
Error Deceleration
Stopping
This status exists when the axis is stopping or
stopped for execution of the MC_ImmdediateStop
instruction or a minor fault (while
_MC_AX[XX].MFaultLvl.Active
is TRUE (Axis
Minor Fault Occurrence).
Axis motion instructions are not executed in this
state. (
CommandAborted
is TRUE.)
Coordinated
BOOL
Coordinated Motion
TRUE when an axes group is enabled by a multi-
axis coordinated control instruction.
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...