Omron Sysmac NY-series

Name Data type Meaning Function
Code WORD Axes Group Observa-
tion Code
Contains the code for an axes group obser-
vation.
The upper four digits of the event code have
the same value.
Cfg _sGROUP_REF_CFG Axes Group Basic Settings
GrpNo UINT Axes Group Number Contains the logical number of the axes
group.
This number is accessed to recognize the ax-
es group number when accessing
_sGROUP_REF
.
GrpEnable _eMC_GROUP_USE Axes Group Use Shows if the axes group is enabled or disa-
bled.
0: _mcNoneGroup (Undefined Axes Group)
1: _mcUnusedGroup (Unused Axes Group)
2: _mcUsedGroup (Used Axes Group)
ExecID UINT Execution ID Contains the assigned task execution ID.
0: Not assigned to task (undefined axes
group)
1: Assigned to primary periodic task
Kinematics _sGROUP_REF_KIM
Kinematics Transformation Settings
*3
GrpType _eMC_GROUP_TYPE Composition Gives the axis composition for multi-axes co-
ordinated control.
0: _mcXY (two axes)
1: _mcXYZ (three axes)
2: _mcXYZU (four axes)
Axis[0] UINT Axis Selection for Axis
A0
Gives the axis number that is assigned to ax-
is A0.
Axis[1] UINT Axis Selection for Axis
A1
Gives the axis number that is assigned to ax-
is A1.
Axis[2] UINT Axis Selection for Axis
A2
Gives the axis number that is assigned to ax-
is A2.
Axis[3] UINT Axis Selection for Axis
A3
Gives the axis number that is assigned to ax-
is A3.
*1. Gives the control status of the command.
*2. This also includes states where processing is performed while in motion at a velocity of 0.
*3. Gives the definition of the kinematic conversions for the axes group.
2-1-4
Input Variables for Motion Control Instructions
The following tables list the input variables and the valid ranges for motion control instructions, and the
valid ranges of enumerations.
2 Variables and Instructions
2-12
NY-series Motion Control Instructions Reference Manual (W561)