Name Data type Meaning Function
Vel LREAL Actual Current Veloc-
ity
Contains the actual current velocity. (Unit: com-
mand units/s)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling
in the negative direction.
Trq LREAL Actual Current Tor-
que
Contains the current value of the actual torque.
(Unit: %)
A plus sign is added when traveling in the posi-
tive direction, and a minus sign when traveling
in the negative direction.
TimeStamp ULINT Time Stamp Contains the time when the current position of
the axis was updated. This variable is valid for
an axis for which time stamping is operating.
(Unit: ns)
MFaultLvl _sMC_REF_EVENT Axis Minor Fault
Active BOOL Axis Minor Fault Oc-
currence
TRUE while there is an axis minor fault.
Code WORD Axis Minor Fault
Code
Contains the code for an axis minor fault.
The upper four digits of the event code have
the same value.
Obsr _sMC_REF_EVENT Axis Observation
Active BOOL Axis Observation Oc-
currence
TRUE while there is an axis observation.
Code WORD Axis Observation
Code
Contains the code for an axis observation.
The upper four digits of the event code have
the same value.
Cfg _sAXIS_REF_CFG
Axis Basic Settings
*1
1
AxNo UINT Axis Number Contains the logical number of the axis.
This number is accessed to recognize the axis
number when accessing _sAXIS_REF
.
AxEnable _eMC_AXIS_USE Axis Use Shows if the axis is enabled or disabled.
0: _mcNoneAxis (Undefined Axis)
1: _mcUnusedAxis (Unused Axis)
2: _mcUsedAxis (Used Axis)
AxType _eMC_AXIS_TYPE Axis Type Contains the axis type.
I/O wiring is not required for virtual axes.
0: _mcServo (Servo Axis)
1: _mcEncdr (Encoder Axis)
2: _mcV
irServo (Virtual Servo Axis)
3: _mcVirEncdr (Virtual Encoder Axis)
NodeAddress UINT Node Address
Contains the EtherCAT slave address.
*12
A value of 16#FFFF indicates that there is no
address.
ExecID UINT Execution ID Contains the task execution ID.
0: Not assigned to task (undefined axis)
1: Assigned to primary periodic task
Scale _sAXIS_REF_SCALE
Unit Conversion Settings
*13
Num UDINT Command Pulse
Count Per Motor Ro-
tation
Contains the number of pulses per motor rota-
tion for command positions.
The command value is converted to a number
of pulses based on the electronic gear ratio.
2 Variables and Instructions
2-8
NY-series Motion Control Instructions Reference Manual (W561)
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