Name Data type Meaning Function
_MC_AX[0..63] _sAXIS_REF Axis Variable
Status _sAXIS_REF_STA Axis Status
Ready BOOL Axis Ready-to-exe-
cute
TRUE when preparations for axis execution are
finished and the axis is stopped.
This variable gives the same status as
_MC_AX[*].Status.Standstill (TRUE: standstill).
Disabled BOOL Axis Disabled TRUE while the Servo is OFF for the axis.
The following axis status are mutually exclu-
sive. Only one of them can be TRUE at a time.
Disabled, Standstill, Discrete, Continuous,
Synchronized, Homing, Stopping, ErrorStop, or
Coordinated
Standstill BOOL Standstill TRUE while the Servo is ON 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 during a dis-
crete motion.
Continuous BOOL Continuous Motion TRUE during continuous motion without a tar-
get position.
This state exists during velocity control and tor-
que control.
This includes when the velocity is 0 because
the target velocity is set to 0 and when the ve-
locity is 0 due to an override factor set to 0 dur-
ing continuous motion.
Synchronized BOOL Synchronized Motion TRUE during execution of synchronized con-
trol.
This includes waiting for synchronization after
changing to synchronized control instructions.
Homing BOOL Homing TRUE when homing for the MC_Home or
MC_HomeWithParameter instruction.
Stopping BOOL Deceleration Stop-
ping
TRUE until the axis stops for a MC_Stop or
MC_T
ouchProbe 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_Imdediate-
Stop instruction or a minor fault (while
_MC_AX[*].MFaultLvl.Active is TRUE (Axis Mi-
nor 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-axes coordinated control instruction.
Details _sAXIS_REF_DET
Axis Control Status
*1
2 Variables and Instructions
2-5
NY-series Motion Control Instructions Reference Manual (W561)
2-1 Variables
2
2-1-2 Axis Variables
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