MC_ReadAxisErr

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Returns the error status of the specified axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.	BOOL	FALSE, TRUE	N/A	No default	Request to read the error status of the axis.
Axis	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.

Outputs

Output	Data Type	Range	Unit	Description
Valid	BOOL	FALSE, TRUE	N/A	Indicates the AxisErrorID output is valid.
Busy	BOOL	FALSE, TRUE	N/A	Indicates this function block is executing.
Error	BOOL	FALSE, TRUE	N/A	Indicates an invalid input was specified.
ErrorID	INT	-32768 to +32767		Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.
AxisErrorID	INT	-32768 to +32767		Indicates the error status of the axis. Each bit indicates a specific error. Both emergency-stop (E-stop) and controlled-stop (C-stop) errors are indicated. The Output Bits table defines the bits of this output.

Remarks

• 
  

• This function or function block returns cached data.
  See Program a Multi-Core Controller.

See Function Blocks - General Rules about how inputs and outputs work.

Output Bits

Hexadecimal	Decimal	Description
0000H	0	No Error
0001H	1	User-set E-stop via MC_EStop, E-stop
0002H	2	Loss of Feedback, E-stop
0004H	4	Drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. Fault, E-stop
0008H	8	Drive Communication Failure, E-stop
0400H	1024	Synchronization Combines an axis or axes group (as slave) with an axis as master. The slave executes its path with synchronization to the progress of the master. This is linked to a one dimension source for synchronization. Error, C-stop
0700H	7192	Drive Overtravel Limit Exceeded, Cstop. See Overtravel Conditions.

• 
  

• Multiple errors can be active at the same time.
  Example: If a User-set E-stop and an Excess Position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. Error E-stop are both active, the value is 00000011H (17 decimal).

Figure 1: MC_ReadAxisErr

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_ReadAxisErr ST example *)
            
Inst_MC_ReadAxisErr( TRUE, Axis1 );
//Inst_MC_ReadAxisErr is an instance of MC_ReadAxisErr function block
AxisErrorBits := Inst_MC_ReadAxisErr.AxisErrorID; //AxisErrorID contains the error bits