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6-25
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_GRP[0..31]
are the system-defined Axes Group Variables. The data type is _sGROUP_REF,
which is a structure. This section describes the configuration of the Axes Group Variables and provides
details on the members.
Axes Group Variables
Variable name
Data type
Meaning
Function
_MC_GRP[0..31]
_sGROUP_REF
Axes Group Variable
Status
_sGROUP_REF_STA
Axes Group Status
Ready
BOOL
Ready to Execute
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[XX].Status.Standby
is TRUE
(stopped).
•
The Servo is ON for the composition axes.
•
_MC_AX[XX].Details.Homed
is TRUE
(home is defined) for the composition axis.
Disabled
BOOL
Axes Group Disabled
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.
Disable, Standby, Moving, Stopping, ErrorStop
Standby
BOOL
Stopped
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)
Moving
BOOL
Moving
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.
Stopping
BOOL
Deceleration Stopping
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.)
ErrorStop
BOOL
Error Deceleration
Stopping
TRUE while the axes group is stopping or
stopped for the MC_GroupImmediateStop
instruction or for an axes group minor fault
(when
_MC_GRP[XX].MFaultLvl.Active
is
TRUE). Axes group motion instructions are
not executed in this state. (
CommandAborted
is TRUE.)
Details
_sGROUP_REF_DET
Axes Group Control
Status
Gives the control status of the instruction.
Idle
BOOL
Idle
TRUE when processing is not currently per-
formed for the command value, except when
waiting for in-position state.
*1
Idle
and
InPosWaiting
are mutually exclusive.
They cannot both be TRUE at the same time.
InPosWaiting
BOOL
In-position Waiting
TRUE when waiting for in-position state for
any composition axis.
TRUE during positioning operations during the
in-position check.
*2
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...