6-33
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
_MC_GRP[0-63], _MC1_GRP[0-63], and _MC2_GRP[0-63] are the system-defined Axes Group Vari-
ables. 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 using _MC_GRP[0-63] as an exam-
ple. The same information applies to _MC1_GRP[0-63] and _MC2_GRP[0-63].
Also, in the descriptions of functions, _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Axes Group Variables
Variable name Data type Meaning Function
_MC_GRP[0-63] _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[*].Status.Standby is TRUE
(stopped).
• The Servo is ON for the composition axes.
• _MC_AX[*].Details.Homed is TRUE (home
is defined) for the composition axes.
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.
Disabled, Standby, Moving, Stopping, or Error-
Stop
Standby BOOL Standby 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[*].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
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