6 Motion Control Programming
6-34
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Cmd _sGROUP_REF_CMD_
DATA
Axes Group Command
Values
Vel LREAL Command
Interpolation Velocity
Contains the current value of the command
interpolation velocity. The interpolation veloc-
ity is calculated from the difference with the
interpolation command current position. A plus
sign is added during travel in the positive
direction, and a minus sign is added during
travel in the negative direction. The value is 0
when the axes group is disabled.
AccDec LREAL Command
Interpolation
Acceleration/
Deceleration
Contains the current value of the command
interpolation acceleration/deceleration. The
interpolation acceleration/deceleration rate is
calculated from the difference with the com-
mand interpolation velocity. A plus sign is
added for acceleration, and a minus sign is
added for deceleration. The value is 0 when
the axes group is disabled, or when the com-
mand acceleration/deceleration rate of the
current axes group motion instruction is 0.
MFaultLvl _sMC_REF_EVENT Axes Group Minor
Fault
Active BOOL Axes Group Minor
Fault Occurrence
TRUE while there is an axes group minor
fault.
Code WORD Axes Group Minor
Fault Code
Contains the error code for an axes group
minor fault.
The upper four digits of the event code have
the same value.
Obsr _sMC_REF_EVENT Axes Group Observa-
tion
Active BOOL Axes Group Observa-
tion Occurrence
TRUE while there is an axes group observa-
tion.
Code WORD Axes Group Observa-
tion Code
Contains the code for an axes group observa-
tion.
The upper four digits of the event code have
the same value.
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.
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)
ExecID
*3
UNIT Execution ID Contains the assigned task execution ID.
0: Not assigned to task (undefined axes
group)
1: Assigned to primary periodic task
2: Assigned to priority-5 periodic task
Variable name Data type Meaning Function
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