MLAxisStatus

Pipe Network motion icon

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. - Returns the status of the axis.

This includes information on the:

Enabled 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./disabled Removal of the ENABLE signal. Disables power stage. state.
Bus connection.
Pipe Network connection.
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. executing an axis stop function.
Other status information.

Inputs

Input	Data Type	Range	Unit	Default	Description
ID	DINT	No range	N/A	No default	ID Name of the Axis block.

Outputs

Output

Data Type

Range

Unit

Description

BOOL

FALSE, TRUE

N/A

Returns TRUE when the function successfully executes.

Default (.Q)

DINT

Returns the status of the axis.

Bit	Description
0	Initialized (1 if initialized).
1	Power (1 if power is on). Is linked to Bit 1 (Switched on) of the Status Word. See CANopen Status Word. See CANopen Status Machine.
2	Enabled (1 if enabled). Is linked to Bit 0 (Ready to switch on) of the Status Word. See CANopen Status Word.
3	Found (1 if found on the network). EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. state is Pre-Operational. See EtherCAT State Machine.
4	Configured (1 if configured) EtherCAT state is Safe-Operational. See EtherCAT State Machine.
5	Running (1 if running) EtherCAT state is Operational. See EtherCAT State Machine.
6	Error (1 if in error).
7	Simulated (1 if working with a simulated axis).
8	Connected (1 if a pipe is connected).
9	Warning (1 if the drive signals a warning).
10	Stopping (1 if the drive is performing a Stop).
11	Stopped (1 if the drive has finished the Stop).
12 to 31	Reserved

Remarks

This function or function block A function block groups an algorithm and a set of private data. It has inputs and outputs. returns cached data.
See Program a Multi-Core Controller.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

 
AxisStatus := MLAxisStatus(PipeNetwork.AXI_A1_Axis) ;
IF AxisStatus.11 THEN 
MLAxisStop(PipeNetwork.AXI_A1_Axis,FALSE,DEF_A1_StopDec) ;
END_IF;

AxisStatus := MLAxisStatus(PipeNetwork.AXIS1);
If AxisStatus.0 Then
   (*Axis is initialized*)
ElsIf AxisStatus.1 Then
   (*Axis' power is ON*)
ElsIf AxisStatus.2 Then
   (*Axis is READY to be enabled*)
End_If;