MC_ReadStatus

PLCopen motion icon

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

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 and return the axis status.

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 outputs are 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.
ErrorStop	BOOL	FALSE, TRUE	N/A	Indicates Error Stop state. Either E-stop or C-stop.
Disabled Removal of the ENABLE signal. Disables power stage.	BOOL	FALSE, TRUE	N/A	Indicates Disabled state. Open loop A positioning technique, typically utilizing stepper motors, where the controller issues a sequence of commands to the motor without an absolute means of detecting if the move has been made. When the load and move velocity and acceleration are appropriately defined, open loop positioning is capable of extended operation without losing steps. and 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. is disabled.
Stopping	BOOL	FALSE, TRUE	N/A	Indicates Stopping state. MC_Stop command.
StandStill	BOOL	FALSE, TRUE	N/A	Indicates Stand Still state. No move, closed loop, drive enabled.
DiscreteMotion	BOOL	FALSE, TRUE	N/A	Indicates Discrete Motion state. Pprogrammed endpoint move is active.
ContinuousMotion	BOOL	FALSE, TRUE	N/A	Indicates Continuous Motion state. Unending, single-axis move is active.
SynchronizedMotion	BOOL	FALSE, TRUE	N/A	Indicates Synchronized 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. Motion state Slave move is active.
Homing The homing procedure allows, based on a position measurement, to set a position offset to the motor to ensure it is physically at the home position.	BOOL	FALSE, TRUE	N/A	Indicates Homing state. A homing cycle is currently executing.
ConstantVelocity	BOOL	FALSE, TRUE	N/A	Indicates the axis is moving at a constant velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP.
Accelerating A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	BOOL	FALSE, TRUE	N/A	Indicates the axis is accelerating.
Decelerating	BOOL	FALSE, TRUE	N/A	Indicates the axis is decelerating.

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.

Figure 1: MC_ReadStatus

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_ReadStatus ST example *)
            
Inst_MC_ReadStatus( EnableRead, Axis1 );
//Inst_MC_ReadStatus is an instance of MC_ReadStatus function block
AxisStopping := Inst_MC_ReadStatus.Stopping; // store Stopping output to a user defined variable
AxisAccelerating := Inst_MC_ReadStatus.Accelerating; // store Accelerating output to a user defined variable