Omron Sysmac NY-series User Manual

Name Data type Meaning Function
ErrorStop BOOL Error Deceleration
Stopping
TRUE while the axes group is stopping or
stopped for the MC_GroupImmediateStop in-
struction or during an axes group minor fault
(when _MC_GRP[*].MFaultLvl.Active is
TRUE).
Axes group motion instructions are not exe-
cuted in this state. (CommandAborted is
TRUE)
Details _sGROUP_REF_DET
Axes Group Control Status
*1
Idle BOOL Idle TRUE when processing is not currently per-
formed for the command value, except when
waiting for in-position state.
*2
Idle and InPosW
aiting are mutually exclusive.
They cannot both be TRUE at the same time.
InPosWaiting BOOL In-position Waiting TRUE when any of the composition axes are
waiting for in-position state.
The in-position check performed when posi-
tioning for the in-position check.
Cmd _sGROUP_REF_CMD_
DA
TA
Axes Group Command Values
Vel LREAL Command Interpola-
tion V
elocity
Contains the current value of the command
interpolation velocity.
The interpolation velocity is calculated from
the difference with the interpolation command
current position. A plus sign is added when
traveling in the positive direction, and a minus
sign is added when traveling in the negative
direction.
The value is 0 when the axes group is disa-
bled.
AccDec LREAL Command Interpola-
tion Acceleration/
Deceleration
Contains the current value of the command
interpolation acceleration/deceleration.
The interpolation acceleration/deceleration
rate is calculated from the dif
ference with the
command 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 disa-
bled, or when the command 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 UINT Axes Group Minor
Fault Code
Contains the 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 Observation
Active BOOL Axes Group Observa-
tion Occurrence
TRUE while there is an axes group observa-
tion.
2 Variables and Instructions
2-11
NY-series Motion Control Instructions Reference Manual (W561)
2-1 Variables
2
2-1-3 Axes Group Variables

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English