*11. A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use this variable.
*12. This variable shows the settings in the Axis Basic Settings.
*13. For an NX-series Position Interface Unit, this is the node address of the EtherCAT Coupler Unit under which the Posi-tion Interface Unit is mounted.
*14. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
*15. This variable shows the settings of the electronic gear ratio.
*16. The parameter is disabled if you set to use a reducer in the unit conversion settings, which is the function added for CPU Units with unit version 1.11 or later. To confirm alternatively enabled parameters, i.e. Work Travel Distance Per Rotation, Work Gear Ratio, and Motor Gear Ratio, use the MC_ReadAxisParameter (Read Axis Parameters) in-struction.
*17. If the Count Mode is set to Linear Mode, the position just before an overflow is given. In Rotary Mode, the modulo maximum position is given.
*18. If the Count Mode is set to Linear Mode, the position just before an underflow is given. In Rotary Mode, the modulo minimum position is given.
Name Data type Meaning Function
Moving BOOL Moving TRUE while an axes group motion instruction
is executed toward the target position.
This includes in-position waiting status and when the velocity is 0 for an override.
Stopping BOOL Deceleration Stopping TRUE until the axes group stops for an MC_GroupStop instruction.
This includes when Execute is TRUE after the axis stops for an MC_GroupStop instruc-tion.
Axes group motion instructions are not exe-cuted while decelerating to a stop. (Comman-dAborted is TRUE)
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 InPosWaiting 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_
DATA
Axes Group Command Values
Vel LREAL Command
Interpola-tion Velocity
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.
2-1 Variables
2
2-1-3 Axes Group Variables
Name Data type Meaning Function
AccDec LREAL Command
Interpola-tion AcceleraInterpola-tion/
Deceleration
Contains the current value of the command interpolation acceleration/deceleration.
The interpolation acceleration/deceleration rate is calculated from the difference 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.
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 accax-essing
_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*3 UINT 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 Kinematics _sGROUP_REF_KIM Kinematics Transformation Settings*4
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 Gives the axis number that is assigned to
ax-Name Data type Meaning Function
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. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this variable.
*4. Gives the definition of the kinematic conversions for the axes group.