Omron NX701-1

6-31
6 Motion Control Programming
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
6-6 System-defined Variables for Motion Control
6
6-6-3 Tables of System-defined Variables for Motion Control
 Relationship between Axis Variables and Axis Types
Axis Variables are enabled or disabled according to the axis type. Disabled members are FALSE or 0.
In the descriptions, _MC_AX[0-255] is used as an example. The same information applies to
_MC1_AX[0-255] and _MC2_AX[0-255]. Also, 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[0-255] _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 Idle 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 Servo 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 --- --- ---